Material characterization in the 0.1-10 THz range has been a major topic of research since its first demonstration 30 years ago. Advances in terahertz generation, detection, and data acquisition have contributed to improved bandwidth, signal power and signal-to-noise ratio. However, material characterization is still performed using conventional spectroscopic measurement schemes which require detailed information about the test object's shape, location, orientation relative to the measurement system, and a reference measurement. Here, we present a method for reference-free material characterization of dielectric objects using a terahertz time-domain spectroscopy system without a priori knowledge about the object and its position. The proposed method is based on ellipsometry combined with lensless imaging for the estimation of the refractive index. The method is a multistage procedure designed for small test objects in reflection mode. The diffracted terahertz radiation is separated from the specular reflected radiation in a post-processing step to enable a valid material parameter estimation. In this way, small dielectric objects can be located, imaged with a sub-mm resolution, and their material parameters extracted. INDEX TERMS material characterization, refractive index, THz imaging