mlsanityData to 14 Oct 2026

You Only Pose Once: A Minimalist's Detection Transformer for Monocular RGB Category-level 9D Multi-Object Pose Estimation

arXiv 2508.14965 ↗First posted 20 Aug 2025cs.CV cs.ROcited by 3

Not on the map. Why?

Abstract (arXiv)

Accurately recovering the full 9-DoF pose of unseen instances within specific categories from a single RGB image remains a core challenge for robotics and automation. Most existing solutions still rely on pseudo-depth, CAD models, or multi-stage cascades that separate 2D detection from pose estimation. Motivated by the need for a simpler, RGB-only alternative that learns directly at the category level, we revisit a longstanding question: Can object detection and 9-DoF pose estimation be unified with high performance, without any additional data? We show that they can with our method, YOPO, a single-stage, query-based framework that treats category-level 9-DoF estimation as a natural extension of 2D detection. YOPO augments a transformer detector with a lightweight pose head, a bounding-box-conditioned translation module, and a 6D-aware Hungarian matching cost. The model is trained end-to-end only with RGB images and category-level pose labels. Despite its minimalist design, YOPO sets a new state of the art on three benchmarks. On the REAL275 dataset, it achieves 79.6% rmIoU50 and 54.1% under the 10^circ10rmcm metric, surpassing prior RGB-only methods and closing much of the gap to RGB-D systems. The code, models, and additional qualitative results can be found on https://mikigom.github.io/YOPO-project-page.

Key facts. Cited by 3 papers in the map (data through 14 Oct 2026). Builds on 37 of its 52 references that are in the map. First posted on arXiv 20 Aug 2025.

Builds on

37 of 52 references.

References · 37

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,139
  3. 2020End-to-End Object Detection with Transformerscited by 7,414
  4. 2017Mask R-CNNcited by 7,277
  5. 2024Depth Anything V2cited by 1,422
  6. 2019Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regressioncited by 1,368
  7. 2022DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detectioncited by 1,319
  8. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,214
  9. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  10. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 724
  11. 2023ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depthcited by 657
  12. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
25 more
  1. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  2. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  3. 2021Oriented R-CNN for Object Detectioncited by 231
  4. 2019Disentangling Monocular 3D Object Detectioncited by 217
  5. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  6. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  7. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  8. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  9. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  10. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 72
  11. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 70
  12. 2020Temporal-Channel Transformer for 3D Lidar-Based Video Object Detection in Autonomous Drivingcited by 55
  13. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 53
  14. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 43
  15. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  16. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 41
  17. 2023ARS-DETR: Aspect Ratio-Sensitive Detection Transformer for Aerial Oriented Object Detectioncited by 32
  18. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 30
  19. 2023RGB-based Category-level Object Pose Estimation via Decoupled Metric Scale Recoverycited by 14
  20. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 14
  21. 2022PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimationcited by 13
  22. 20226D Robotic Assembly Based on RGB-only Object Pose Estimationcited by 9
  23. 2023Hausdorff Distance Matching with Adaptive Query Denoising for Rotated Detection Transformercited by 9
  24. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 6
  25. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Modelcited by 5

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 3.

3 papers.

  1. 2026Mind the Shape Gap: A Benchmark and Baseline for Deformation-Aware 6D Pose Estimation of Agricultural Producecited by 1
  2. 2026RYOPO: Bringing End-to-End Category-Level Object Pose Estimation into Real Timecited by 0
  3. 2026SchemaPose: RGB-Based Category-Level Pose Estimation with Parametric Category Schemacited by 0