Author

Ali Rafiaei

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Preprint Sep 2026

Back to the Feature: Zero-Shot 6DoF Pose Estimation via Dense Local Features

B2TFPose is presented, a training-free zero-shot method for 6DoF pose estimation of unseen objects from RGB images, establishing state-of-the-art performance among training-free RGB methods and outperforming trained counterparts including GigaPose and GenFlow, at competitive inference speed.

Ali Rafiaei, Michael A. Greenspan · 0 citations