Author

Davide Boscaini

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Preprint Sep 2026

Prior-free relative 6D pose estimation of multiple object instances

Object 6D pose estimation formulations have progressively reduced reliance on object-specific priors, evolving from explicit 3D models to multi-view object captures to single reference images. We take this progression to its extreme by introducing prior-free relative 6D pose estimation, which lifts the assumption of kn...

Behdad Khodabandehloo, Andrea Caraffa, Davide Boscaini et al. · 0 citations

Preprint Aug 2026

Foundational feature fusion for conditional flow matching in 6D pose estimation

Conditional flow matching has enabled a step forward in object 6D pose estimation, achieving state-of-the-art performance by progressively denoising and registering object representations to observed scenes. Existing methods require training task-specific encoders supervised on object-scene overlap and rely on trivial...

Amir Hamza, Davide Boscaini, Fabio Poiesi · 0 citations