Pose Anything Anywhere:Model-free Object Poses from Arbitrary References

In many practical 6D object pose estimation scenarios, we often have access to only a single real-world RGB-D reference view per object, typically without CAD models. Existing methods largely rely on explicit 3D models or multi-view data, which limits their scalability. To address this challenging single-reference model-free setting, we propose \textbf{OneViewAll}, a semantic-prior-guided framework that performs pose estimation via a novel Project-and-Compare paradigm. Instead of relying on computationally expensive CAD-based rendering, our method directly aligns reference and query observations within a projection-equivariant space. OneViewAll progressively integrates hierarchical semantic priors across three levels: (1) \textit{category- and scene-level} priors for efficient hypothesis initialization; (2) \textit{object-level symmetry} priors for geometry completion via mirror fusion; and (3) \textit{patch-level} priors for discriminative refinement. Extensive experiments demonstrate that OneViewAll achieves \textbf{92.5%} ADD-0.1 accuracy on the LINEMOD dataset using only one real reference view -- significantly outperforming the CVPR 2025 baseline One2Any (52.6%). It also yields consistent improvements on YCB-V, Real275, and Toyota-Light while maintaining low inference latency. Our results underscore the efficacy of symmetry-aware projection in handling symmetric, texture-less, and occluded objects.

Single-reference unseen object 6D pose estimation reduces object onboarding by estimating poses of arbitrary novel objects from only one reference view. Recent correspondence-based pipelines have achieved robust performance with vision foundation model (VFM) features. However, they typically treat these features as intra-view descriptors, leaving dense visual-semantic cues, including appearance, structure, and context, insufficiently exchanged across views before geometric decoding. Consequently, the decoded point features may lack joint semantic and geometric discriminability, making correspondence estimation still difficult in challenging cases. Instead of processing features independently, we build the correspondence pipeline around an early cross-view semantic prior. Specifically, cross-view semantic interaction (CVSI) enables dense query and reference VFM tokens to exchange semantic context and form a cross-view prior. Nevertheless, direct CVSI may disturb the VFM token structure, while the resulting semantic prior still needs 3D representation consistency for rigid correspondence. To make this CVSI prior reliable for 3D correspondence learning, we introduce two complementary training-time constraints: the intra-view structure preservation (IVSP) loss preserves the original intra-view token affinity structure during interaction, while the reference-anchored geometric consistency (RAGC) loss enforces spatial representation consistency of decoded point features. The final pose is recovered from learned correspondences through weighted SVD. We further construct a challenging view-pair protocol from the BOP Challenge datasets YCB-V and TUD-L to evaluate robustness in difficult matching scenarios. Extensive experiments on six benchmarks under different view-pair settings show that our method achieves state-of-the-art performance while maintaining comparable inference speed.

Object pose estimation is a fundamental problem in 3D vision. Although recent state-of-the-art approaches achieve strong performance, they often overfit to existing benchmarks and exhibit limited generalization to novel categories and unseen scenes. We propose UniPose9D, a category-agnostic foundation model for 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 six datasets show that a single unified model can match or surpass specialist methods while generalizing to unseen objects and in-the-wild scenarios. Our code and model are available on https://github.com/qq456cvb/UniPose9D.