diff --git a/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml b/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml
index c583f1eedb1e774dd189c7298d9c0ec921f4a58a..13a51e4e886dec94708e07301c0b679fe4e60a7a 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml
@@ -51,6 +51,11 @@ Core segment type of Object/Instance.
                 <PointCloud type="PointXYZRGB"/>
             </ObjectChild> -->
 
+            <!-- Orientation of the bounding box in the 'sens' frame -->
+            <ObjectChild key="boundingBoxOrientation">
+                <Orientation />
+            </ObjectChild>
+
             <!-- bounding box in local sensFrame (see poseSensFrame) -->
             <ObjectChild key="bounding_box">
                 <simox::arondto::AxisAlignedBoundingBox />
diff --git a/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp b/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp
index 345703832fd49d3b07739fe6efb3715bf5c4a82d..b6e5e66d607e75751f467c325400c7e0b8828f10 100644
--- a/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp
@@ -89,9 +89,12 @@ namespace armarx::armem::server::obj::familiar_object_instance
                     if (visualizeBoundingBox)
                     {
 
-                        const Eigen::Isometry3f global_T_bb =
-                            Eigen::Isometry3f{familiarObject.poseGlobal->pose} *
-                            Eigen::Translation3f{familiarObject.bounding_box.center};
+                        const Eigen::Isometry3f global_T_obj{familiarObject.poseGlobal->pose};
+                        Eigen::Isometry3f obj_T_bb = Eigen::Isometry3f::Identity();
+                        obj_T_bb.translation() = familiarObject.bounding_box.center;
+                        obj_T_bb.linear() = familiarObject.boundingBoxOrientation.toRotationMatrix();
+
+                        const Eigen::Isometry3f global_T_bb = global_T_obj * obj_T_bb;
 
                         auto box = viz::Box(objectId.str());
                         box.pose(global_T_bb.matrix());