mlsanityData to 14 Oct 2026

ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectors

arXiv 2512.09056 ↗First posted 9 Dec 2025cs.CVcited by 5

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Abstract (arXiv)

Object pose estimation is a fundamental task in computer vision and robotics, yet most methods require extensive, dataset-specific training. Concurrently, large-scale vision language models show remarkable zero-shot capabilities. In this work, we bridge these two worlds by introducing ConceptPose, a framework for object pose estimation that is both training-free and model-free. ConceptPose leverages a vision-language-model (VLM) to create open-vocabulary 3D concept maps, where each point is tagged with a concept vector derived from saliency maps. By establishing robust 3D-3D correspondences across concept maps, our approach allows precise estimation of 6DoF relative pose. Without any object or dataset-specific training, our approach achieves state-of-the-art results on common zero shot relative pose estimation benchmarks, outperforming the strongest baseline by a relative 62% in average ADD(-S) score, including methods that utilize extensive dataset-specific training.

Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). Builds on 47 of its 57 references that are in the map. First posted on arXiv 9 Dec 2025.

Builds on

47 of 57 references.

References · 47

  1. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,744
  2. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  3. 2021Emerging Properties in Self-Supervised Vision Transformerscited by 6,968
  4. 2016Grad-CAM: Visual Explanations from Deep Networks via Gradient-based Localizationcited by 6,733
  5. 2023BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Modelscited by 6,137
  6. 2022BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generationcited by 4,322
  7. 2025Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilitiescited by 3,796
  8. 2023Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detectioncited by 3,332
  9. 2023Sigmoid Loss for Language Image Pre-Trainingcited by 3,109
  10. 2025DINOv3cited by 1,414
  11. 2025SigLIP 2: Multilingual Vision-Language Encoders with Improved Semantic Understanding, Localization, and Dense Featurescited by 1,188
  12. 2024Grounded SAM: Assembling Open-World Models for Diverse Visual Taskscited by 929
35 more
  1. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  2. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  3. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 429
  4. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  5. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  6. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 157
  7. 2022Open-Vocabulary Universal Image Segmentation with MaskCLIPcited by 132
  8. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 121
  9. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 117
  10. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 116
  11. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 115
  12. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 114
  13. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  14. 2023CLIP-DINOiser: Teaching CLIP a few DINO tricks for open-vocabulary semantic segmentationcited by 96
  15. 2023DeCap: Decoding CLIP Latents for Zero-Shot Captioning via Text-Only Trainingcited by 84
  16. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  17. 2024DINOv2 Meets Text: A Unified Framework for Image- and Pixel-Level Vision-Language Alignmentcited by 79
  18. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 57
  19. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 53
  20. 2021CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulationcited by 49
  21. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 49
  22. 2024Talking to DINO: Bridging Self-Supervised Vision Backbones with Language for Open-Vocabulary Segmentationcited by 44
  23. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  24. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  25. 2023Open-vocabulary object 6D pose estimationcited by 29
  26. 2024MatchU: Matching Unseen Objects for 6D Pose Estimation from RGB-D Imagescited by 28
  27. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  28. 2025One2Any: One-Reference 6D Pose Estimation for Any Objectcited by 18
  29. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 15
  30. 2023GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondencecited by 12
  31. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  32. 2024High-resolution open-vocabulary object 6D pose estimationcited by 10
  33. 2025UA-Pose: Uncertainty-Aware 6D Object Pose Estimation and Online Object Completion with Partial Referencescited by 9
  34. 2024Finding Dino: A Plug-and-Play Framework for Zero-Shot Detection of Out-of-Distribution Objects Using Prototypescited by 5
  35. 2024Learning a Category-level Object Pose Estimator without Pose Annotationscited by 1

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 5.

5 papers.

  1. 2026ProxyPose: 6-DoF Pose Tracking via Video-to-Video Translationcited by 3
  2. 2026Learning Cross-View Semantic Priors for Single-Reference Unseen Object Pose Estimationcited by 0
  3. 2026Emergence of a Shared Canonical Object Frame from In-the-Wild Videoscited by 0
  4. 2026UniPose9D: Universal Category-Agnostic Object Pose Estimationcited by 0
  5. 2026Prior-free relative 6D pose estimation of multiple object instancescited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models
  2. 2023Open-Pose 3D Zero-Shot Learning: Benchmark and Challenges
  3. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimation
  4. 2024OV9D: Open-Vocabulary Category-Level 9D Object Pose and Size Estimation
  5. 2025Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single View
  6. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Models
  7. 2026Beyond Heuristic Prompting: A Concept-Guided Bayesian Framework for Zero-Shot Image Recognition
  8. 2025AxisPose: Model-Free Matching-Free Single-Shot 6D Object Pose Estimation via Axis Generation