1. Results of environment map based pose estimation

(2) Cluttered 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