ProM-Pose: Language-Guided Zero-Shot 9-DoF Object Pose Estimation from RGB-D with Generative 3D Priors

Object pose estimation is fundamental for robotic manipulation, autonomous driving, and augmented reality, yet recovering the full 9-DoF state (rotation, translation, and anisotropic 3D scale) from RGB-D observations remains challenging for previously unseen objects. Existing methods either rely on instance-specific CAD models, predefined category boundaries, or suffer from scale ambiguity under sparse observations. We propose ProM-Pose, a unified cross-modal temporal perception framework for zero-shot 9-DoF object pose estimation. By integrating language-conditioned generative 3D shape priors as canonical geometric references, an asymmetric cross-modal attention mechanism for spatially aware fusion, and a decoupled pose decoding strategy with temporal refinement, ProM-Pose constructs metrically consistent and semantically grounded representations without relying on category-specific pose priors or instance-level CAD supervision. Extensive experiments on CAMERA25 and REAL275 benchmarks demonstrate that ProM-Pose achieves competitive or superior performance compared to category-level methods, with mAP of 75.0% at 5°,2cm and 90.5% at 10°,5cm on CAMERA25, and 42.2% at 5°,2cm and 76.0% at 10°,5cm on REAL275 under zero-shot cross-domain evaluation. Qualitative results on real-world logistics scenarios further validate temporal stability and robustness under occlusion and lighting variations. ProM-Pose effectively bridges semantic grounding and metric geometric reasoning within a unified formulation, enabling stable and scale-aware 9-DoF pose estimation for previously unseen objects under open-vocabulary conditions.