G6D: Geometric Learning-Free RGB-D 6D Pose Solver for Robotic Manipulation

arXiv:2609.23566 · cs.CV, cs.RO · Submitted 2026-09-20 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-20

Updated: 2026-09-20

Comments: 9 pages, 5 figures. Corresponding author: Chuxiong Hu. Project page: https://ai4control.github.io/G6D-Project-Page

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 15× in this paper · explained in 1 episode
• Consistency — 13× in this paper · explained in 3 episodes
• 6D Object Pose Estimation — 9× in this paper · explained in 1 episode
• Alignment — 9× in this paper · explained in 1 episode
• Generalization — 5× in this paper · explained in 13 episodes
• Interpretability — 4× in this paper · explained in 15 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Core — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Instance Segmentation — 2× in this paper · explained in 3 episodes
• Pruning — 2× in this paper · explained in 4 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Hamming Distance — 1× in this paper · explained in 2 episodes
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• Mask Generation — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Accurate and efficient zero-shot 6D pose estimation with frozen foundation models
• Diff-DOPE: Differentiable Deep Object Pose Estimation
• NOCTIS: Novel Object Cyclic Threshold based Instance Segmentation
• Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection
• SAM 2: Segment Anything in Images and Videos

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