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. Bayesian Active Object Recognition and 6D Pose Estimation from Multimodal Contact Sensing

    Mar 22, 2026Haodong Zheng, Gabriele M. Caddeo, Andrei C. Jalba +3Object Pose EstimationRobotic Tactile Sensing

  2. Geometrically Plausible Object Pose Refinement using Differentiable Simulation

    Mar 22, 2026Anil Zeybek, Rhys Newbury, Snehal Dikhale +3Object Pose EstimationRobotic Manipulation

    Technical University of Munich, Germany · Physical AI, Australia · Monash University, Australia +1

  3. Cov2Pose: Leveraging Spatial Covariance for Direct Manifold-aware 6-DoF Object Pose Estimation

    Mar 20, 2026Nassim Ali Ousalah, Peyman Rostami, Vincent Gaudillière +4Riemannian Neural NetworksObject Pose Estimation

    CVI2, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg⋆ · Université de Lorraine, CNRS, Inria, LORIA, F-54000 Nancy, France† · Infinite Orbits⋊ +1

  4. UniPR: Unified Object-level Real-to-Sim Perception and Reconstruction from a Single Stereo Pair

    Mar 20, 2026Chuanrui Zhang, Yingshuang Zou, ZhengXian Wu +3Real-to-Sim Transfer3D Reconstruction

    NTU · Tencent Robotics X · HKUST +2

  5. GenHOI: Generalized Hand-Object Pose Estimation with Occlusion Awareness

    Mar 19, 2026Hui Yang, Wei Sun, Jian Liu +63D Hand Pose EstimationOOD Generalization

    NERC-RVC, Hunan University · National University of Singapore · Lancaster University +2

  6. FSMC-Pose: Frequency and Spatial Fusion with Multiscale Self-calibration for Cattle Mounting Pose Estimation

    Mar 17, 2026Fangjing Li, Zhihai Wang, Xinxin Ding +5Object Pose EstimationAgricultural Image Analysis

    Beijing Jiaotong University · NERCITA · Tsinghua University +1

  7. Speak, Segment, Track, Navigate: An Interactive System for Video-Guided Skull-Base Surgery

    Mar 17, 2026Jecia Z. Y. Mao, Francis X. Creighton, Russell H. Taylor +1Surgical Instrument TrackingSurgical Video Understanding

  8. Real-time Rendering-based Surgical Instrument Tracking via Evolutionary Optimization

    Mar 12, 2026Hanyang Hu, Zekai Liang, Florian Richter +1Visual Object TrackingCovariance Matrix Adaptation Evolution Strategy

    Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093 USA.

  9. High-Precision 6DOF Pose Estimation via Global Phase Retrieval in Fringe Projection Profilometry for 3D Mapping

    Mar 12, 2026Sehoon Tak, Keunhee Cho, Sangpil Kim +13D MappingObject Pose Estimation

    Department of Mechanical Engineering, Yonsei University, Seoul 03722, South Korea. · Department of Artificial Intelligence, Korea University, Seoul

  10. TacLoc: Global Tactile Localization on Objects from a Registration Perspective

    Mar 11, 2026Zirui Zhang, Boyang Zhang, Fumin Zhang +1Object Pose EstimationPoint Cloud Registration

  11. Event-based Motion & Appearance Fusion for 6D Object Pose Tracking

    Mar 9, 2026Zhichao Li, Chiara Bartolozzi, Lorenzo Natale +1Object Pose EstimationEvent-Based Vision

    Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy · Humanoid Sensing and Perception, Istituto Italiano di Tecnologia, Italy · University of Genoa, Genoa, Italy

  12. CanoVerse: 3D Object Scalable Canonicalization and Dataset for Generation and Pose

    Mar 7, 2026Li Jin, Yuchen Yang, Weikai Chen +113D Shape Retrieval3D Representation Learning

    SDU · LIGHTSPEED · UNC Chapel Hill +2

  13. Yolo-Key-6D: Single Stage Monocular 6D Pose Estimation with Keypoint Enhancements

    Mar 4, 2026Kemal Alperen Çetiner, Hazım Kemal EkenelObject Pose Estimation

    ASELSAN, Aerospace Technologies, Türkiye · Istanbul Technical University, Department of Computer Engineering, Türkiye · New York University Abu Dhabi, Division of Engineering, UAE

  14. Touch2Insert: Zero-Shot Peg Insertion by Touching Intersections of Peg and Hole

    Mar 4, 2026Masaru Yajima, Yuma Shin, Rei Kawakami +2Robotic InsertionTactile Sensing for Robotic Manipulation

    Institute of Science Tokyo, Tokyo, Japan. · Mitsubishi Electric, Kanagawa, Japan.

  15. Tracking Feral Horses in Aerial Video Using Oriented Bounding Boxes

    Mar 4, 2026Saeko Takizawa, Tamao Maeda, Shinya Yamamoto +1Multi-Object TrackingObject Detection

    Graduate School of Information Science, University of Hyogo, Hyogo, Japan · Research Center for Integrative Evolutionary Science, The Graduate University for Advanced Studies, Kanagawa, Japan · Institute for the Future of Human Society, Kyoto University, Kyoto, Japan

  16. Self-supervised Domain Adaptation for Visual 3D Pose Estimation of Nano-drone Racing Gates by Enforcing Geometric Consistency

    Mar 3, 2026Nicholas Carlotti, Michele Antonazzi, Elia Cereda +4Relative Pose EstimationObject Pose Estimation

    Dalle Molle Institute for Artificial Intelligence (IDSIA), USI-SUPSI, Lugano, Switzerland · University of Milan, Italy · Integrated Systems Laboratory (IIS), ETHZ, Zürich, Switzerland

  17. Tracing Back Error Sources to Explain and Mitigate Pose Estimation Failures

    Mar 3, 2026Loris Schneider, Yitian Shi, Rosa Wolf +3Object Pose EstimationRobust Estimation

    Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany. · German Aerospace Center (DLR), Weßling, Germany.

  18. MLRecon: Robust Markerless Freehand 3D Ultrasound Reconstruction via Coarse-to-Fine Pose Estimation

    Mar 1, 2026Yi Zhang, Puxun Tu, Kun Wang +3Ultrasound ImagingObject Pose Estimation

    Institute of Biomedical Manufacturing and Life Quality Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China · Department of Ultrasound in Medicine, Shanghai Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, Shanghai, China · Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China

  19. Zero-Shot Robotic Manipulation via 3D Gaussian Splatting-Enhanced Multimodal Retrieval-Augmented Generation

    Feb 28, 2026Zilong Xie, Jingyu Gong, Xin Tan +2Zero-Shot Robotic ManipulationGeneralization in Robotic Manipulation

    School of Computer Science and Technology, East China Normal University, Shanghai, China · Chongqing Key Laboratory of Precision Optics, Chongqing Institute of East China Normal University, Chongqing, China · Shanghai Key Laboratory of Computer Software Evaluating and Testing, Shanghai, China

  20. COG: Confidence-aware Optimal Geometric Correspondence for Unsupervised Single-reference Novel Object Pose Estimation

    Feb 28, 2026Yuchen Che, Jingtu Wu, Hao Zheng +1Object Pose EstimationUnsupervised Learning

    Institute of Science Tokyo · RIKEN · Tohoku University

  21. WHOLE: World-Grounded Hand-Object Lifted from Egocentric Videos

    Feb 25, 2026Yufei Ye, Jiaman Li, Ryan Rong +1Hand-Object Interaction ReconstructionHand-Object Interaction

    Stanford University · Amazon FAR (Frontier AI & Robotics)

  22. Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization

    Feb 23, 2026Wei-Cheng Huang, Jiaheng Han, Xiaohan Ye +2Physics-Aware 3D Scene Reconstruction3D Reconstruction

    Siebel School of Computing and Data Science, University of Illinois at Urbana-Champaign · Department of Computer Science, The University of Hong Kong · Meta Reality Labs

  23. Learning Positive-Incentive Point Sampling in Neural Implicit Fields for Object Pose Estimation

    Feb 23, 2026Yifei Shi, Boyan Wan, Xin Xu +1Object Pose EstimationImplicit Neural Representations

    College of Intelligence Science and Technology, National University of Defense Technology, China · College of Computer Science, National University of Defense Technology, China

  24. Generative 6D Pose Estimation via Conditional Flow Matching

    Feb 23, 2026Amir Hamza, Davide Boscaini, Weihang Li +2Object Pose EstimationConditional Flow Matching

    Fondazione Bruno Kessler · University of Trento · Technical University of Munich +1

  25. DICArt: Advancing Category-level Articulated Object Pose Estimation in Discrete State-Spaces

    Feb 23, 2026Li Zhang, Mingyu Mei, Ailing Wang +7Object Pose EstimationDiffusion Models

    University of Science and Technology of China · Zhejiang University · East China Normal University +6

  26. Benchmarking the Effects of Object Pose Estimation and Reconstruction on Robotic Grasping Success

    Feb 19, 2026Varun Burde, Pavel Burget, Torsten SattlerRobot Manipulation BenchmarksRobotic Grasping

    Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia · Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Czechia

  27. MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum Manipulators

    Feb 18, 2026Junhyun Park, Chunggil An, Myeongbo Park +3Object Pose EstimationContinuum Robot Control

    Department of Robotics and Mechatronics Engineering, DGIST, Daegu 42988, Republic of Korea · AI Research Lab, DEEPNOID, Seoul, Republic of Korea

  28. Image Measurement Method for Automatic Insertion of Forks into Inclined Pallet

    Feb 18, 2026Nobuyuki Kita, Takuro KatoRobotic InsertionIndustrial Robotics

    TICO-AIST Cooperative Research Laboratory for Advanced Logistics, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan

  29. Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments

    Feb 16, 2026Ruofeng Wei, Kai Chen, Yui Lun Ng +7Robotic EndoscopyRobotic Perception

    Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China. · Department of Mechanical Engineering, The University of Hong Kong, China. · Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, and also with the Department of Mechanical Engineering, The University of Hong Kong.

  30. Equivariant symmetry-aware head pose estimation for fetal MRI

    Dec 4, 2025Ramya Muthukrishnan, Borjan Gagoski, Aryn Lee +4Symmetry-Aware Object Pose EstimationObject Pose Estimation

    MIT Computer Science and Artificial Intelligence Laboratory, Cambridge, USA · Boston Children’s Hospital and Harvard Medical School, Boston, USA · Inria, Université Côte d’Azur, Sophia Antipolis, France