UniPose9D: Universal Category-Agnostic Object Pose Estimation

Published in arXiv, 2026

UniPose9D is a category agnostic foundation model for 9D object pose estimation. Given an object mask and either a color and depth observation or a color image with predicted depth, it estimates rotation, translation, and metric size without category labels, CAD models, shape priors, or reference views. A single model performs competitively across standard benchmarks and transfers to unseen objects and everyday scenes.

Recommended citation: You, Y., Du, Y., Harrison, C., & Guibas, L. (2026). UniPose9D: Universal Category-Agnostic Object Pose Estimation. arXiv preprint arXiv:2607.09985.