6D Object Pose Estimation

Upload an image, then click on the object to add point prompts. Use Positive points to include regions, Negative points to exclude. Optionally upload a depth image and/or provide camera intrinsics — otherwise MoGe predicts both automatically. Review the mask, then click Confirm & Estimate Pose to run pose estimation.

Uses SAM2, MoGe, and UniPose9D with multi-sample RANSAC + DBSCAN.