Object Pose Estimation

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Overview

Object pose estimation determines where an object is and how it is oriented, often as a 6D pose and sometimes including its size or articulation. Methods use keypoints or dense correspondences with geometric solvers such as PnP and ICP, alongside learned RGB-D and point-cloud models, foundation features, and generative pose prediction. Symmetry-aware representations, temporal tracking, and tactile or multi-view cues help address occlusion and ambiguous geometry, with benchmarks such as BOP, LINEMOD, and NOCS testing different settings. A central challenge is making systems generalize beyond familiar objects and controlled benchmarks to cluttered, deformable, reflective, or otherwise changing real-world scenes while remaining reliable for tasks such as robotic grasping.

Latest papers

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187 papers25 papers in the last four weeks, up 47% on the four weeks before. 0.1% of all new papers.

  1. F2G-Pose: Geometry-Aware Foundation Feature Lifting for Direct RGB-D Category-Level Object Pose Estimation

    Oct 22, 2026Jinyu Zhang, Haitao Lin, Jiashu Hou +2Object Pose Estimation

    Fudan University · Shanghai Innovation Institute

  2. GelSlim 5.0: Unifying Vision and Touch with a Single Fingertip Camera

    Oct 22, 2026Xiangdong Wang, I-Hsuan Huang, Xiaohao Xu +3Tactile Sensing for Robotic ManipulationMultimodal Sensor Fusion

    University of Michigan, Ann Arbor, MI, USA

  3. RoPT: Robust 6DoF Object Pose Tracking in Video

    Oct 20, 2026Yongqing Liang, Yuzhong Chen, Sihang Li +7Visual Object TrackingObject Pose Estimation

    New York University · General Motors

  4. PnP-Transformer: A Neural Pose Solver for Zero-Shot 6D Object Pose Estimation

    Oct 19, 2026Emirkan Burak Yilmaz, Yakup GencObject Pose Estimation

    Computer Engineering Dept., Gebze Technical University, Kocaeli, Türkiye

  5. Curvature as a Baseline: Monocular Pose Measurement of Cylindrical Objects with Dual Colour Stripe Markers

    Oct 19, 2026Jaesung Hong, Dong Won LeeObject Pose EstimationCamera Pose Estimation

    R&D Center, A4LAB Inc., South Korea · Department of Robotics and Mechatronics Engineering, DGIST, South Korea · Department of Otorhinolaryngology - Head and Neck Surgery, Daegu Catholic University, Daegu, Republic of Korea

  6. OV-PEAR: Observation-Verified Pose-Scale Estimation and Reconstruction for Unknown Industrial Manipulation Objects

    Oct 19, 2026Guoqin Tang, Qingxuan Jia, Yichen Tan +4Object Pose EstimationObject-Centric 3D Reconstruction

    All authors are with the School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China.

  7. Object Pose from 2-D to 3-D Point and Line Correspondences

    Oct 14, 2026Thai Quynh Phong, Radu Horaud, Adnan Yassine +1Object Pose Estimation

    Inria Rhˆone-Alpes 46, avenue F´elix Viallet 38031 Grenoble FRANCE · D´epartement de Math´ematiques Universit´e de Nancy I BP 239 54506 Vandoeuvre-les-Nancy FRANCE · D´epartement G´enie Math´ematique INSA – Rouen BP 08 Place Emile Blondel 76131 Mont-Saint-Aignan FRANCE

  8. SchemaPose: RGB-Based Category-Level Pose Estimation with Parametric Category Schema

    Oct 13, 2026Shuang Wu, Jiude Wei, Cewu Lu +1Object Pose Estimation

    Shanghai Jiao Tong University

  9. TacSpin: Tactile Tracking of In-Gripper Object Rotation on SO(3) via Axis-Magnitude Estimation

    Oct 13, 2026Yuhao Wu, Linhao Song, Huan YinTactile Sensing for Robotic ManipulationObject Pose Estimation

    School of AI and Robotics, Hunan University.

  10. ScenePlacer: Reformulating Scene-Level Object Pose Estimation as Visibility Field Learning

    Oct 11, 2026Ken Deng, Jiarui Liu, Guibiao Liao +7Object Pose Estimation

    The Hong Kong University of Science and Technology · Shenzhen Loop Area Institute · The University of Hong Kong +1

  11. ASM-6D: Fast Certified Pose-Shape Inference with Complete Correspondence Flow Maps

    Oct 11, 2026Ho Jin Choi, Minku Kim, Nadia FigueroaObject Pose Estimation

    University of Pennsylvania, Philadelphia, PA, USA · Oregon State University, Corvallis, OR, USA

  12. NovaSplat: Model-Free 6D Object Pose Estimation via 3D Gaussian Splatting Onboarding and Refinement

    Oct 9, 2026Georgios Floros, Evangelos Sartinas, Orestis Vaggelis +1Object Pose Estimation3D Gaussian Splatting

    National Technical University of Athens

  13. Fast Pose Tracking of Rigid Objects with Compact Pose Graph Optimization

    Oct 8, 2026Xiaojie Zhang, Tom Fischer, Viktor Larsson +1Object Pose EstimationPose Graph Optimization

    University of Technology Nuremberg · Lund University

  14. WAPR: A Foundation Model for Wide-Angle Refinement in Unseen Object Pose Estimation

    Oct 7, 2026Yulin Wang, Mengting Hu, Hongli Li +2Symmetry-Aware Object Pose EstimationObject Pose Estimation

    Southeast University, Nanjing, China · Purdue University, West Lafayette, IN, USA

  15. Rotated, but How Far? Diagnosing and Improving Object-Rotation Reasoning in VLMs

    Oct 5, 2026Zhaochen Wang, Yujun Cai, Huangbo Zou +4VLM EvaluationObject Pose Estimation

    The University of Queensland · Westlake University

  16. VICON: Visual-Inertial-Contact based Hand-Object Tracking for Manipulation Datasets

    Oct 4, 2026Youbeen Jeon, Uiseong Shin, Hwanchul La +3Robot Manipulation Datasets3D Hand Pose Estimation

    DGIST, Daegu 42988, Republic of Korea · Seoul National University, Republic of Korea

  17. Synthetic-to-Real ViT-Based Pose Estimation of a Noncooperative UAV

    Oct 3, 2026Krishnanujam Srinivas, Hanish Acharla, Brij Agrawal +1Object Pose EstimationSynthetic-to-Real Domain Adaptation

    Spacecraft Research and Design Center, Department of Mechanical and Aerospace Engineering, Naval Postgraduate School, Monterey.

  18. Fine-Tuning VLM for Enhancing AI's Spatial Intelligence: Understanding 3D and 2D Rotations

    Oct 3, 2026Uttamasha Monjoree, Wei YanVisual Spatial Reasoning3D Spatial Reasoning

    Department of Architecture Texas A&M University College Station, USA

  19. RYOPO: Bringing End-to-End Category-Level Object Pose Estimation into Real Time

    Oct 2, 2026Hakjin Lee, Junghoon Seo, Jaehoon SimObject Pose Estimation3D Instance Segmentation

    PIT IN Co., Anyang-si, Gyeonggi-do, Republic of Korea.

  20. GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Picking

    Oct 1, 2026Jian Liu, Wei Sun, Zhenqi Dai +4Synthetic-to-Real Domain AdaptationObject Pose Estimation

    IMPL Lab, SUTD · NERC-RVC, Hunan University · University of Trento

  21. SonarVoxNet: Diver Detection in 3D Bounding Box using 3D Sonar

    Oct 1, 2026Eugene Park, Jiwon Lee, Seyoung Kan +3Object Pose EstimationUnderwater Object Detection

  22. quARtet Marker: A 3D-Printable Multi-Tag Fiducial for Robust Near-Frontal Pose Estimation

    Oct 1, 2026Araki Wakiuchi, Hikaru Sasaki, Takamitsu MatsubaraObject Pose EstimationRobotic Manipulation

    Materials Informatics Initiative, RD Technology and Digital Transformation Center, JSR Corporation, 3-103-9 Tonomachi, Kawasaki-ku, Kawasaki, Kanagawa, Japan, 210-0821. · Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma, Nara, Japan, 630-0192.

  23. SPOON: Towards Coherent Compositional 3D Scene Generation from Uncalibrated Multi-view Images

    Sep 30, 2026Guibiao Liao, Mochu Xiang, Heng Li +6Object Pose Estimation3D Scene Generation

    The University of Hong Kong · Shenzhen Loop Area Institute · TranscEngram +2

  24. GRC-Pose: Generation-Reconstruction Correspondence for Prior-Free 6D Object Pose Tracking

    Sep 30, 2026Shiyang Liu, Weiquan Lin, Luping Xiao +4Object Pose Estimation

    School of Automation, Beijing Institute of Technology · Zhongguancun Academy · Artificial Intelligence Academy, Xidian University +1

  25. LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimation

    Sep 28, 2026Hongli Xu, Zhaowei Lu, Junwen Huang +5Object Pose Estimation3D Representation Learning

    Technical University of Munich Munich, Germany · Munich Center for Machine Learning Munich, Germany · Siemens AG Munich, Germany +1

  26. Toward Comprehensive 3D Grounding: Orientation Grounding through Vision-Language Models

    Sep 27, 2026Tuo Liang, Disheng Liu, Nengbo Wang +23D Visual Grounding3D Spatial Reasoning

    Case Western Reserve University

  27. OC-GS: Gaussian Splatting for Irregular Turntable Capture

    Sep 25, 2026Jae Joong Lee, Bedrich Benes3D Reconstruction3D Gaussian Splatting

    Department of Computer Science Purdue University

  28. PICO: Projection-Informed Consistency Optimisation for 6DoF Surgical Tool Pose Estimation

    Sep 25, 2026Lucy Fothergill, Pietro Valdastri, Dominic Jones +1Object Pose EstimationSurgical Robotics

    School of Computer Science, University of Leeds. · School of Electronic and Electrical Engineering, University of Leeds.

  29. Surgical Kinematics from Monocular Video with Learned Articulated Motion Constraints

    Sep 23, 2026Mehmet Kerem Turkcan, Soham Samal, Zoran KosticSurgical RoboticsRobot Kinematics

    Columbia University, New York, NY, USA

  30. Vision Foundation Models with Synthetic-Only Training for Monocular Spacecraft Pose Estimation

    Sep 22, 2026John Church, Vazghen NikolianVision Foundation Model AdaptationObject Pose Estimation

    Both authors contributed equally to this work; author order is alphabetical.