arXiv:2511.00120v1 Announce Type: cross Abstract: The primary challenge in computer vision is precisely calculating the pose of 6D objects, however many current approaches are still fragile and have trouble generalizing from synthetic data to real-world situations with fluctuating lighting, textureless objects, and significant occlusions. To address these limitations, VLM6D, a novel dual-stream architecture that leverages the distinct strengths of visual and geometric data from RGB-D input for robust and precise pose estimation. Our framework uniquely integrates two specialized encoders: a powerful, self-supervised Vision Transformer (DINOv2) processes the RGB modality, harnessing its rich, pre-trained understanding of visual grammar to achieve remarkable resilience against texture and lighting variations. Concurrently, a PointNet++ encoder processes the 3D point cloud derived from depth data, enabling robust geometric reasoning that excels even with the sparse, fragmented data typical of severe occlusion. These complementary feature streams are effectively fused to inform a multi task prediction head. We demonstrate through comprehensive experiments that VLM6D obtained new SOTA performance on the challenging Occluded-LineMOD, validating its superior robustness and accuracy.