{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/novel-object-6d-pose-estimation-with-a-single","title":"Novel Object 6D Pose Estimation with a Single Reference View","arxiv_id":"2503.05578","date":"2025-03-07","proceeding":null,"authors":["Jian Liu","Wei Sun","Kai Zeng","Jin Zheng","Hui Yang","Lin Wang","Hossein Rahmani","Ajmal Mian"],"abstract":"Existing novel object 6D pose estimation methods typically rely on CAD models or dense reference views, which are both difficult to acquire. Using only a single reference view is more scalable, but challenging due to large pose discrepancies and limited geometric and spatial information. To address these issues, we propose a Single-Reference-based novel object 6D (SinRef-6D) pose estimation method. Our key idea is to iteratively establish point-wise alignment in the camera coordinate system based on state space models (SSMs). Specifically, iterative camera-space point-wise alignment can effectively handle large pose discrepancies, while our proposed RGB and Points SSMs can capture long-range dependencies and spatial information from a single view, offering linear complexity and superior spatial modeling capability. Once pre-trained on synthetic data, SinRef-6D can estimate the 6D pose of a novel object using only a single reference view, without requiring retraining or a CAD model. Extensive experiments on six popular datasets and real-world robotic scenes demonstrate that we achieve on-par performance with CAD-based and dense reference view-based methods, despite operating in the more challenging single reference setting. Code will be released at https://github.com/CNJianLiu/SinRef-6D.","url_abs":"https://arxiv.org/abs/2503.05578v1","url_pdf":"https://arxiv.org/pdf/2503.05578v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"novel-object-6d-pose-estimation-with-a-single","repo_url":"https://github.com/cnjianliu/sinref-6d","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"6d-pose-estimation-1","task_name":"6D Pose Estimation"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":"state-space-models","task_name":"State Space Models"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2503.05578","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}