UniPose9D: Universal Category-Agnostic Object Pose Estimation

Object pose estimation is a fundamental problem in 3D vision. Although recent state-of-the-art approaches achieve strong performance, generalization to novel categories and unseen scenes remains challenging. We propose UniPose9D, a unified model for category-agnostic 9D object pose estimation: given an instance mask/ROI and either an RGB-D observation or an RGB image with predicted depth, the model estimates rotation, translation, and metric size without category labels, CAD models, mean-shape priors, or reference views. Specifically, UniPose9D samples point pairs from the observed object geometry and uses DINOv2 and PointNet features to predict NOCS coordinates for each pair. To improve accuracy, we introduce a point-pair-based RANSAC N-hop Kabsch-Umeyama algorithm with an adaptive threshold. We further employ flow matching to address symmetric ambiguities and construct a large-scale training set by curating and aligning pose annotations from existing public datasets. Experiments across eight datasets show that a single unified model achieves competitive performance on standard benchmarks while generalizing to unseen objects, unseen categories, and in-the-wild scenarios. Our code and model are available at https://github.com/qq456cvb/UniPose9D.