POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Reference

Understand

Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks.

• These limitations mainly come from the necessity of 3D models, closed-category detection, and a large number of densely annotated support views.
• To mitigate this issue, we propose a general paradigm for object pose estimation, called Promptable Object Pose Estimation (POPE).
• The proposed approach POPE enables zero-shot 6DoF object pose estimation for any target object in any scene, while only a single reference is adopted as the support view.