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GS2POSE: Marry Gaussian Splatting to 6D Object Pose Estimation

arXiv 2510.16777 ↗First posted 19 Oct 2025cs.CVcited by 0

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Abstract (arXiv)

Accurate 6D pose estimation of 3D objects is a fundamental task in computer vision, and current research typically predicts the 6D pose by establishing correspondences between 2D image features and 3D model features. However, these methods often face difficulties with textureless objects and varying illumination conditions. To overcome these limitations, we propose GS2POSE, a novel approach for 6D object pose estimation. GS2POSE formulates a pose regression algorithm inspired by the principles of Bundle Adjustment (BA). By leveraging Lie algebra, we extend the capabilities of 3DGS to develop a pose-differentiable rendering pipeline, which iteratively optimizes the pose by comparing the input image to the rendered image. Additionally, GS2POSE updates color parameters within the 3DGS model, enhancing its adaptability to changes in illumination. Compared to previous models, GS2POSE demonstrates accuracy improvements of 1.4%, 2.8% and 2.5% on the T-LESS, LineMod-Occlusion and LineMod datasets, respectively.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 19 of its 40 references that are in the map. First posted on arXiv 19 Oct 2025.

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19 of 40 references.

References · 19

  1. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,226
  2. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  3. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  4. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  5. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  6. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  7. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  8. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 157
  9. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 115
  10. 2019Self-supervised 6D Object Pose Estimation for Robot Manipulationcited by 101
  11. 2022NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimationcited by 58
  12. 20246DGS: 6D Pose Estimation from a Single Image and a 3D Gaussian Splatting Modelcited by 28
7 more
  1. 2023ZeroPose: CAD-Prompted Zero-shot Object 6D Pose Estimation in Cluttered Scenescited by 20
  2. 2023Rigidity-Aware Detection for 6D Object Pose Estimationcited by 13
  3. 2023SAMIHS: Adaptation of Segment Anything Model for Intracranial Hemorrhage Segmentationcited by 5
  4. 2024NeRF-Feat: 6D Object Pose Estimation using Feature Renderingcited by 4
  5. 2024Object Gaussian for Monocular 6D Pose Estimation from Sparse Viewscited by 4
  6. 2022PCKRF: Point Cloud Completion and Keypoint Refinement With Fusion Data for 6D Pose Estimationcited by 1
  7. 2025Robust Low-Light Human Pose Estimation through Illumination-Texture Modulationcited by 1

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