{"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/one2any-one-reference-6d-pose-estimation-for","title":"One2Any: One-Reference 6D Pose Estimation for Any Object","arxiv_id":"2505.04109","date":"2025-05-07","proceeding":"CVPR 2025 1","authors":["Mengya Liu","Siyuan Li","Ajad Chhatkuli","Prune Truong","Luc van Gool","Federico Tombari"],"abstract":"6D object pose estimation remains challenging for many applications due to dependencies on complete 3D models, multi-view images, or training limited to specific object categories. These requirements make generalization to novel objects difficult for which neither 3D models nor multi-view images may be available. To address this, we propose a novel method One2Any that estimates the relative 6-degrees of freedom (DOF) object pose using only a single reference-single query RGB-D image, without prior knowledge of its 3D model, multi-view data, or category constraints. We treat object pose estimation as an encoding-decoding process, first, we obtain a comprehensive Reference Object Pose Embedding (ROPE) that encodes an object shape, orientation, and texture from a single reference view. Using this embedding, a U-Net-based pose decoding module produces Reference Object Coordinate (ROC) for new views, enabling fast and accurate pose estimation. This simple encoding-decoding framework allows our model to be trained on any pair-wise pose data, enabling large-scale training and demonstrating great scalability. Experiments on multiple benchmark datasets demonstrate that our model generalizes well to novel objects, achieving state-of-the-art accuracy and robustness even rivaling methods that require multi-view or CAD inputs, at a fraction of compute.","url_abs":"https://arxiv.org/abs/2505.04109v1","url_pdf":"https://arxiv.org/pdf/2505.04109v1.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":[],"tasks":[{"task_slug":"6d-pose-estimation-1","task_name":"6D Pose Estimation"},{"task_slug":"6d-pose-estimation","task_name":"6D Pose Estimation using RGB"},{"task_slug":"object","task_name":"Object"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2505.04109","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2505.04109"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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