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1. Results of environment map based pose estimation

(1) Simple background

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