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 |