Semantic Prior Guided One-View 6D Pose Estimation for Novel Objects
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 semant...
| Authors | Yang Luo, Yan Gong, Yongsheng Gao |
|---|---|
| Primary category | cs.CV |
| Published | 7 May 2026 |
| Last updated at source | 22 July 2026 |
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