AI RESEARCH
OneViewAll: Semantic Prior Guided One-View 6D Pose Estimation for Novel Objects
arXiv CS.CV
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ArXi:2605.07023v1 Announce Type: new 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.