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

This work presents FunFlow6D, a novel flow matching-based formulation that leverages features from geometric and appearance foundation models for pose estimation, eliminating the need for task-specific encoders supervised on object-scene overlap and reducing supervision requirements and memory overhead.

Amir Hamza, Davide Boscaini, Fabio Poiesi · 0 citations