UniPose9D: Universal Category-Agnostic Object Pose Estimation

arXiv:2607.09985v1 Announce Type: new Abstract: Object pose estimation is a fundamental problem in 3D vision. Although recent state-of-the-art approaches achieve strong performance, they often overfit to existing benchmarks and exhibit limited generalization to novel categories and unseen scenes. We propose UniPose9D, a category-agnostic foundation model for 9D object pose estimation: given an instance mask/ROI and either an RGB-D observation or an RGB image with predicted depth, the model estim...