1. Results of environment map based pose estimation

(3) Multiple specular objects

Case #1
Input images overlaid with estimated pose
Reference specular images

Case #2
Input images overlaid with estimated pose
Reference specular images

Case #3
Input images overlaid with estimated pose
Reference specular images

Case #4
Input images overlaid with estimated pose
Reference specular images

Case #5
Input images overlaid with estimated pose
Reference specular images

Case #6
Input images overlaid with estimated pose
Reference specular images

Case #7
Input images overlaid with estimated pose
Reference specular images

Case #8
Input images overlaid with estimated pose
Reference specular images

Case #9
Input images overlaid with estimated pose
Reference specular images

Case #10
Input images overlaid with estimated pose
Reference specular images

Case #11
Input images overlaid with estimated pose
Reference specular images

Case #12
Input images overlaid with estimated pose
Reference specular images

Case #13
Input images overlaid with estimated pose
Reference specular images

Case #14
Input images overlaid with estimated pose
Reference specular images

Case #15
Input images overlaid with estimated pose
Reference specular images

Case #16
Input images overlaid with estimated pose
Reference specular images

Case #17
Input images overlaid with estimated pose
Reference specular images

Case #18
Input images overlaid with estimated pose
Reference specular images

Case #19
Input images overlaid with estimated pose
Reference specular images

Case #20
Input images overlaid with estimated pose
Reference specular images

Case #21
Input images overlaid with estimated pose
Reference specular images

Case #22
Input images overlaid with estimated pose
Reference specular images

Case #23
Input images overlaid with estimated pose
Reference specular images

Case #24
Input images overlaid with estimated pose
Reference specular images

Case #25
Input images overlaid with estimated pose
Reference specular images