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 |