NovaSplat: Model-Free 6D Object Pose Estimation via 3D Gaussian Splatting Onboarding and Refinement

6D pose estimation of novel objects without CAD models remains an open challenge: model-free methods must build the object representation from scratch during onboarding and have long trailed their model-based counterparts. We present NovaSplat, a model-free pipeline that closes this gap.

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