%PDF-1.3 1 0 obj << /Kids [ 3 0 R 4 0 R 5 0 R 6 0 R 7 0 R 8 0 R 9 0 R 10 0 R 11 0 R 12 0 R ] /Type /Pages /Count 10 >> endobj 2 0 obj << /Title (Recovering 6D Object Pose and Predicting Next\055Best\055View in the Crowd) /Producer (PyPDF2) /Author (Andreas Doumanoglou\054 Rigas Kouskouridas\054 Sotiris Malassiotis\054 Tae\055Kyun Kim) /Subject (2016 IEEE Conference on Computer Vision and Pattern Recognition) >> endobj 3 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 14 0 R /Resources << /XObject << /x8 15 0 R /x6 18 0 R /R29 21 0 R /R30 22 0 R /R26 23 0 R /x12 24 0 R /x10 27 0 R /R31 30 0 R >> /ExtGState << /s9 31 0 R /s11 34 0 R /R15 37 0 R /a0 << /CA 1 /ca 1 >> /s5 38 0 R /s7 41 0 R >> /Font << /F2 44 0 R /F1 45 0 R /R16 46 0 R /R18 50 0 R /R20 54 0 R /R22 57 0 R /R24 61 0 R /R27 65 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 68 0 R 69 0 R 70 0 R 71 0 R 72 0 R 73 0 R ] >> endobj 4 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 74 0 R /Resources << /ExtGState << /R15 37 0 R >> /Font << /F2 75 0 R /F1 76 0 R /R16 46 0 R /R18 50 0 R /R69 77 0 R /R24 61 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 81 0 R 82 0 R 83 0 R 84 0 R 85 0 R 86 0 R 87 0 R 88 0 R 89 0 R 90 0 R 91 0 R 92 0 R 93 0 R 94 0 R 95 0 R 96 0 R 97 0 R 98 0 R 99 0 R 100 0 R 101 0 R 102 0 R 103 0 R 104 0 R 105 0 R 106 0 R 107 0 R 108 0 R 109 0 R 110 0 R 111 0 R ] >> endobj 5 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 112 0 R /Resources << /ExtGState << /R15 37 0 R >> /Font << /F2 113 0 R /R100 114 0 R /R98 117 0 R /F1 120 0 R /R69 77 0 R /R16 46 0 R /R18 50 0 R /R94 121 0 R /R24 61 0 R /R96 125 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 128 0 R 129 0 R 130 0 R 131 0 R 132 0 R 133 0 R 134 0 R 135 0 R 136 0 R 137 0 R 138 0 R 139 0 R 140 0 R 141 0 R 142 0 R 143 0 R 144 0 R ] >> endobj 6 0 obj << /Parent 1 0 R /Rotate 0 /Contents 145 0 R /Resources << /ColorSpace << /R121 146 0 R >> /XObject << /R361 147 0 R /R360 148 0 R /R363 149 0 R /R362 150 0 R /R365 151 0 R /R364 152 0 R /R367 153 0 R /R366 154 0 R /R369 155 0 R /R368 156 0 R /R273 157 0 R /R536 159 0 R /R531 166 0 R /R532 284 0 R /R533 285 0 R /R244 286 0 R /R245 287 0 R /R240 288 0 R /R241 289 0 R /R163 290 0 R /R162 291 0 R /R169 292 0 R /R168 293 0 R /R372 294 0 R /R373 295 0 R /R370 296 0 R /R371 297 0 R /R376 298 0 R /R377 299 0 R /R374 300 0 R /R375 301 0 R /R541 302 0 R /R543 305 0 R /R542 306 0 R /R545 307 0 R /R544 308 0 R /R547 309 0 R /R546 310 0 R /R549 311 0 R /R548 312 0 R /R277 313 0 R /R276 314 0 R /R176 315 0 R /R177 316 0 R /R172 317 0 R /R173 318 0 R /R264 319 0 R /R180 320 0 R /R260 321 0 R /R261 322 0 R /R349 323 0 R /R348 324 0 R /R347 325 0 R /R346 326 0 R /R249 327 0 R /R343 329 0 R /R342 330 0 R /R550 331 0 R /R551 332 0 R /R558 333 0 R /R185 476 0 R /R358 482 0 R /R359 538 0 R /R213 485 0 R /R212 486 0 R /R196 487 0 R /R197 488 0 R /R217 489 0 R /R216 490 0 R /R350 491 0 R /R351 492 0 R /R352 493 0 R /R353 494 0 R /R354 495 0 R /R355 496 0 R /R356 497 0 R /R357 498 0 R /R298 499 0 R /R265 475 0 R /R119 501 0 R /R290 502 0 R /R293 504 0 R /R116 505 0 R /R294 506 0 R /R297 500 0 R /R115 507 0 R /R181 474 0 R /R200 508 0 R /R201 509 0 R /R204 473 0 R /R205 472 0 R /R208 510 0 R /R209 511 0 R /R126 512 0 R /R125 513 0 R /R329 514 0 R /R328 515 0 R /R120 516 0 R /R325 517 0 R /R324 518 0 R /R321 519 0 R /R320 520 0 R /R129 521 0 R /R184 477 0 R /R289 503 0 R /R280 522 0 R /R281 523 0 R /R284 524 0 R /R285 525 0 R /R189 478 0 R /R188 479 0 R /R237 526 0 R /R268 480 0 R /R233 528 0 R /R232 529 0 R /R269 481 0 R /R130 530 0 R /R134 531 0 R /R135 532 0 R /R136 533 0 R /R339 534 0 R /R336 535 0 R /R335 536 0 R /R332 537 0 R /R506 350 0 R /R501 539 0 R /R503 542 0 R /R502 543 0 R /R228 544 0 R /R229 545 0 R /R220 546 0 R /R221 547 0 R /R224 548 0 R /R225 549 0 R /R117 550 0 R /R309 551 0 R /R308 552 0 R /R272 158 0 R /R302 553 0 R /R301 554 0 R /R305 555 0 R /R382 360 0 R /R143 336 0 R /R516 355 0 R /R248 328 0 R /R512 556 0 R /R513 557 0 R /R511 558 0 R /R236 527 0 R /R192 484 0 R /R316 561 0 R /R317 562 0 R /R312 563 0 R /R313 564 0 R /R257 565 0 R /R256 566 0 R /R253 567 0 R /R252 568 0 R /R157 569 0 R /R152 570 0 R /R150 571 0 R /R523 576 0 R /R522 577 0 R /R521 578 0 R /R193 483 0 R /R526 345 0 R /R158 581 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] /Pattern << /R203 366 0 R /R183 369 0 R /R267 371 0 R /R207 373 0 R /R187 375 0 R /R263 377 0 R /R345 379 0 R /R223 382 0 R /R341 384 0 R /R227 387 0 R /R171 468 0 R /R535 160 0 R /R124 391 0 R /R530 167 0 R /R247 393 0 R /R327 395 0 R /R300 397 0 R /R307 399 0 R /R243 401 0 R /R323 403 0 R /R304 413 0 R /R381 361 0 R /R165 409 0 R /R142 337 0 R /R283 411 0 R /R515 356 0 R /R149 572 0 R /R510 559 0 R /R128 405 0 R /R211 415 0 R /R315 417 0 R /R191 419 0 R /R215 421 0 R /R311 423 0 R /R239 425 0 R /R195 427 0 R /R219 429 0 R /R235 431 0 R /R199 433 0 R /R288 435 0 R /R231 437 0 R /R319 439 0 R /R540 303 0 R /R279 441 0 R /R133 443 0 R /R259 446 0 R /R338 448 0 R /R255 450 0 R /R292 464 0 R /R271 452 0 R /R251 454 0 R /R275 456 0 R /R331 458 0 R /R179 460 0 R /R553 389 0 R /R505 351 0 R /R175 462 0 R /R520 579 0 R /R334 466 0 R /R500 540 0 R /R525 346 0 R /R296 470 0 R /R161 407 0 R >> /ExtGState << /R145 334 0 R /R528 343 0 R /R508 348 0 R /R518 353 0 R /R151 363 0 R /R384 358 0 R /R114 164 0 R /R15 37 0 R /R538 364 0 R >> /Font << /R98 117 0 R /F1 601 0 R /R555 594 0 R /R567 602 0 R /R565 605 0 R /R559 609 0 R /R563 612 0 R /R96 125 0 R /R166 582 0 R /F2 615 0 R /R155 586 0 R /R153 590 0 R /R94 121 0 R /R561 616 0 R /R16 46 0 R /R100 114 0 R /R18 50 0 R /R69 77 0 R >> /Shading << /R202 367 0 R /R266 372 0 R /R182 370 0 R /R206 374 0 R /R262 378 0 R /R186 376 0 R /R170 469 0 R /R222 383 0 R /R344 380 0 R /R226 388 0 R /R340 385 0 R /R534 161 0 R /R246 394 0 R /R123 392 0 R /R254 451 0 R /R303 414 0 R /R148 573 0 R /R326 396 0 R /R242 402 0 R /R306 400 0 R /R127 406 0 R /R322 404 0 R /R160 408 0 R /R141 338 0 R /R519 580 0 R /R282 412 0 R /R514 357 0 R /R287 436 0 R /R539 304 0 R /R178 461 0 R /R499 541 0 R /R314 418 0 R /R210 416 0 R /R190 420 0 R /R310 424 0 R /R214 422 0 R /R194 428 0 R /R238 426 0 R /R218 430 0 R /R198 434 0 R /R234 432 0 R /R318 440 0 R /R230 438 0 R /R132 444 0 R /R380 362 0 R /R258 447 0 R /R337 449 0 R /R270 453 0 R /R333 467 0 R /R330 459 0 R /R274 457 0 R /R299 398 0 R /R552 390 0 R /R529 168 0 R /R509 560 0 R /R291 465 0 R /R504 352 0 R /R250 455 0 R /R164 410 0 R /R295 471 0 R /R524 347 0 R /R174 463 0 R /R278 442 0 R >> >> /Group 165 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 620 0 R 621 0 R 622 0 R 623 0 R 624 0 R 625 0 R 626 0 R ] /Type /Page >> endobj 7 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 627 0 R /Resources << /XObject << /R594 628 0 R >> /ExtGState << /R15 37 0 R >> /Font << /F2 629 0 R /R94 121 0 R /R98 117 0 R /R567 602 0 R /F1 630 0 R /R69 77 0 R /R16 46 0 R /R100 114 0 R /R18 50 0 R /R565 605 0 R /R563 612 0 R /R24 61 0 R /R96 125 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 631 0 R 632 0 R 633 0 R 634 0 R 635 0 R 636 0 R 637 0 R 638 0 R 639 0 R 640 0 R 641 0 R 642 0 R 643 0 R 644 0 R 645 0 R ] >> endobj 8 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 646 0 R /Resources << /XObject << /R617 647 0 R /R620 648 0 R /R621 649 0 R /R622 650 0 R /R623 651 0 R >> /ExtGState << /R15 37 0 R >> /Font << /F2 652 0 R /R96 125 0 R /R94 121 0 R /R618 653 0 R /R98 117 0 R /R567 602 0 R /F1 656 0 R /R69 77 0 R /R16 46 0 R /R100 114 0 R /R18 50 0 R /R563 612 0 R /R561 616 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 657 0 R 658 0 R 659 0 R 660 0 R 661 0 R 662 0 R 663 0 R 664 0 R 665 0 R 666 0 R 667 0 R 668 0 R 669 0 R 670 0 R 671 0 R 672 0 R ] >> endobj 9 0 obj << /Parent 1 0 R /Rotate 0 /Contents 673 0 R /Resources << /XObject << /R653 674 0 R /R652 675 0 R >> /ExtGState << /R15 37 0 R >> /Font << /R98 117 0 R /F2 676 0 R /F1 677 0 R /R16 46 0 R /R18 50 0 R /R69 77 0 R /R94 121 0 R /R24 61 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /Group 678 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 679 0 R 680 0 R 681 0 R 682 0 R 683 0 R 684 0 R 685 0 R 686 0 R 687 0 R 688 0 R 689 0 R 690 0 R 691 0 R 692 0 R 693 0 R 694 0 R 695 0 R 696 0 R 697 0 R 698 0 R 699 0 R ] /Type /Page >> endobj 10 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 700 0 R /Resources << /XObject << /R675 701 0 R /R674 702 0 R /R673 703 0 R /R672 704 0 R /R671 705 0 R /R670 706 0 R /R669 707 0 R >> /ExtGState << /R15 37 0 R >> /Font << /F2 708 0 R /R563 612 0 R /R98 117 0 R /F1 709 0 R /R16 46 0 R /R18 50 0 R /R69 77 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 710 0 R 711 0 R 712 0 R 713 0 R 714 0 R 715 0 R 716 0 R 717 0 R 718 0 R 719 0 R ] >> endobj 11 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 720 0 R /Resources << /ExtGState << /R15 37 0 R >> /Font << /R18 50 0 R /F2 721 0 R /F1 722 0 R /R24 61 0 R /R16 46 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 723 0 R 724 0 R 725 0 R 726 0 R 727 0 R 728 0 R 729 0 R 730 0 R 731 0 R 732 0 R 733 0 R 734 0 R 735 0 R 736 0 R 737 0 R 738 0 R 739 0 R 740 0 R 741 0 R 742 0 R 743 0 R 744 0 R 745 0 R 746 0 R 747 0 R 748 0 R 749 0 R 750 0 R 751 0 R 752 0 R 753 0 R 754 0 R 755 0 R 756 0 R 757 0 R 758 0 R 759 0 R 760 0 R 761 0 R 762 0 R 763 0 R 764 0 R 765 0 R 766 0 R 767 0 R 768 0 R 769 0 R 770 0 R 771 0 R 772 0 R 773 0 R ] >> endobj 12 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 774 0 R /Resources << /ExtGState << /R15 37 0 R >> /Font << /R18 50 0 R /F2 775 0 R /F1 776 0 R /R24 61 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 777 0 R 778 0 R 779 0 R 780 0 R 781 0 R 782 0 R 783 0 R 784 0 R 785 0 R 786 0 R 787 0 R 788 0 R 789 0 R ] >> endobj 13 0 obj << /Type /Catalog /Pages 1 0 R >> endobj 14 0 obj << /Length 17137 >> stream q q q 0.10000 0 0 0.10000 0 0 cm /R15 gs 0 g q 10 0 0 10 0 0 cm BT /R16 14.34620 Tf 1 0 0 1 76.36720 675.06700 Tm [ (Reco) 10.00480 (v) 9.99625 (ering) -249.99000 (6D) -249.99800 (Object) -249.99800 (P) 20.00610 (ose) -250.00800 (and) -249.99100 (Pr) 18.00480 (edicting) -250.00200 (Next\055Best\055V) 37.00690 (iew) -249.99100 (in) -249.99100 (the) -250.00800 (Cr) 17.99460 (o) 9.99625 (wd) ] TJ /R18 11.95520 Tf 15.81870 -37.85820 Td [ (Andreas) -249.99200 (Doumanoglou) ] TJ /R20 7.97010 Tf 111.23100 4.33906 Td [ (1) -0.30019 ] TJ /R22 7.97010 Tf 4.23398 0 Td [ (\073) -0.10109 ] TJ /R20 7.97010 Tf 2.35195 0 Td [ (2) -0.30019 ] TJ /R18 11.95520 Tf 4.73203 -4.33906 Td [ (\054) -250.01200 (Rig) 4.98892 (as) -250.01400 (K) 34.99600 (ousk) 10.01260 (ouridas) ] TJ /R20 7.97010 Tf 102.01300 4.33906 Td [ (1) -0.30019 ] TJ /R18 11.95520 Tf 4.73203 -4.33906 Td [ (\054) -250.01200 (Sotiris) -249.98700 (Malassiotis) ] TJ /R20 7.97010 Tf 94.65980 4.33906 Td [ (2) -0.30019 ] TJ /R18 11.95520 Tf 4.73203 -4.33906 Td [ (\054) -250.01000 (T) 80.01470 (ae\055K) 25 (yun) -249.98900 (Kim) ] TJ /R20 7.97010 Tf 77.43320 4.33906 Td [ (1) -0.30019 ] TJ -263.40200 -27.89610 Td [ (1) -0.30019 ] TJ /R18 11.95520 Tf 4.73203 -4.33789 Td [ (Imperial) -249.99500 (Colle) 14.98720 (ge) -250.00800 (London) ] TJ /R20 7.97010 Tf -69.44530 -9.60898 Td [ (2) -0.29866 ] TJ /R18 11.95520 Tf 4.73203 -4.33906 Td [ (Center) -249.99700 (for) -249.99500 (Research) -250.00600 (\046) -249.99100 (T) 70.01640 (echnology) -249.99700 (Hellas) -250.00400 (\050CER) 59.98550 (TH\051) ] TJ /R16 11.95520 Tf -28.92700 -41.04610 Td (Abstract) Tj /R24 9.96260 Tf -83.92810 -24.33790 Td [ (Object) -376.00200 (detection) -375.01200 (and) -376 (6D) -374.98900 (pose) -376.00300 (estimation) -374.98600 (in) -376.00300 (the) -376.00800 (cr) 45.01450 (owd) ] TJ -11.95470 -11.95510 Td [ (\050scenes) -406.00900 (with) -406.01700 (multiple) -404.99400 (object) -405.99500 (instances\054) -444.98900 (se) 15.01960 (ver) 37.01100 (e) -406.01600 (for) 36.99140 (e) 39.98840 (gr) 44.98510 (ound) ] TJ 11.95590 TL T* [ (occlusions) -230.00200 (and) -229.00600 (bac) 20.00280 (kgr) 45.01940 (ound) -229.98100 (distr) 15.00980 (actor) 10.01670 (s\051\054) -233.99500 (has) -229.00300 (become) -230 (an) -229.99100 (im\055) ] TJ 11.95510 TL T* [ (portant) -237.99800 (pr) 44.98390 (oblem) -239.00300 (in) -237.98700 (many) -239.01000 (r) 14.98400 (apidly) -238.01400 (e) 15.01220 (volving) -238.01900 (tec) 15.01470 (hnolo) 9.98608 (gical) -239 (ar) 20.00890 (\055) ] TJ T* [ (eas) -372.01000 (suc) 14.98460 (h) -372.99200 (as) -372.00500 (r) 45.01820 (obotics) -371.98600 (and) -372.98200 (augmented) -371.98900 (r) 37.01830 (eality) 54.98840 (\056) -676.98300 (Single) -373.01100 (shot\055) ] TJ T* [ (based) -282.99500 (6D) -283.98400 (pose) -283 (estimator) 10 (s) -283.98600 (with) -283.01800 (manually) -283.01900 (designed) -284.00700 (featur) 37.00120 (es) ] TJ T* [ (ar) 36.98520 (e) -446.00800 (still) -444.98900 (unable) -445.98100 (to) -445.01200 (tac) 20.00400 (kle) -446.00500 (the) -445.99700 (abo) 10.01300 (ve) -444.99300 (c) 15.01220 (halleng) 9.98853 (es\054) -495.01100 (motivat\055) ] TJ T* [ (ing) -237.00200 (the) -235.99200 (r) 37.01960 (esear) 36.98280 (c) 15.01220 (h) -237.01400 (towar) 37.01100 (ds) -235.98900 (unsupervised) -236.98100 (featur) 37.00120 (e) -236.00500 (learning) -236.98300 (and) ] TJ 11.95630 TL T* [ (ne) 19.99730 (xt\055best\055vie) 14.98650 (w) -294.01600 (estimation\056) -441.99400 (In) -293.98900 (this) -294.00400 (work\054) -304.98600 (we) -293.98000 (pr) 36.98650 (esent) -293.98000 (a) -293.98500 (com\055) ] TJ 11.95470 TL T* [ (plete) -287.98100 (fr) 14.99140 (ame) 14.98160 (work) -286.99100 (for) -288.01200 (both) -286.98900 (single) -288.00500 (shot\055based) -287.99400 (6D) -287.00400 (object) -288.01600 (pose) ] TJ T* [ (estimation) -362.98900 (and) -362.98400 (ne) 19.99790 (xt\055best\055vie) 14.98650 (w) -362.00500 (pr) 36.98520 (ediction) -363.01000 (based) -362.98100 (on) -362.98800 (Hough) ] TJ T* [ (F) 105.00600 (or) 36.98520 (ests\054) -320.00700 (the) -305 (state) -306.00700 (of) -306.01500 (the) -305 (art) -306.00900 (object) -306.01100 (pose) -304.99600 (estimator) -305.98600 (that) -306.00300 (per) 20.00400 (\055) ] TJ T* [ (forms) -280.00500 <636c6173736902636174696f6e> -278.99400 (and) -280.01700 (r) 37.01960 (e) 39.98840 (gr) 36.98520 (ession) -278.98800 (jointly) 55.00550 (\056) -398.99000 (Rather) -280.01000 (than) -280.01000 (us\055) ] TJ T* [ (ing) -290.01300 (manually) -289.01700 (designed) -290.00600 (featur) 37 (es) -289.99000 (we) -289.98200 (a\051) -289.00900 (pr) 44.98510 (opose) -290.01300 (an) -289.98100 (unsuper) 19.98440 (\055) ] TJ 11.95630 TL T* [ (vised) -392.00300 (featur) 37.98080 (e) -392.01700 (learnt) -391.98700 (fr) 44.98640 (om) -390.98600 (depth\055in) 39.98110 (variant) -391.98100 (patc) 14.99010 (hes) -390.98600 (using) -391.98400 (a) ] TJ 11.95510 TL T* [ (Spar) 10.01920 (se) -408.00900 (A) 20 (utoencoder) -407.98500 (and) -407.99600 (b\051) -408.00900 (of) 18.00920 (fer) -408.00200 (an) -408 (e) 19.99180 (xtensive) -408.00300 (e) 15.01220 (valuation) ] TJ T* [ (of) -398 (various) -397.98200 (state) -397.99100 (of) -397.02000 (the) -398.00500 (art) -397.99400 (featur) 37 (es\056) -753.98800 (Furthermor) 37.01830 (e) 9.99343 (\054) -434.98400 (taking) ] TJ T* [ (advanta) 9.98669 (g) 10.00320 (e) -309.99200 (of) -310.01400 (the) -310.01900 (clustering) -309.98600 (performed) -309.99700 (in) -310.01400 (the) -311 (leaf) -310.01200 (nodes) -310.01000 (of) ] TJ T* [ (Hough) -377.01200 (F) 105.00600 (or) 36.98520 (ests\054) -407.99300 (we) -376.98700 (learn) -375.99700 (to) -376.98400 (estimate) -377.00800 (the) -376.00800 (r) 37.01830 (eduction) -377.01100 (of) -376.98400 (un\055) ] TJ 11.95590 TL T* [ (certainty) -272.98900 (in) -273.00100 (other) -274.01400 (vie) 15.01590 (ws\054) -278.99000 (formulating) -272.99000 (the) -273.00600 (pr) 44.98510 (oblem) -272.99900 (of) -273.98100 (select\055) ] TJ 11.95510 TL T* [ (ing) -280.01500 (the) -281.00400 (ne) 19.99730 (xt\055best\055vie) 14.98650 (w) 74.00110 (\056) -400.98900 (T) 92 (o) -279.98800 (further) -280 (impr) 44.99490 (o) 10.00320 (ve) -280.00200 (pose) -281 (estimation\054) ] TJ T* [ (we) -336.01300 (pr) 44.98390 (opose) -336.00600 (an) -334.99300 (impr) 44.99370 (o) 10.00320 (ved) -335.98700 (joint) -335.99100 (r) 37.01960 (e) 39.98840 (gistr) 15.00980 (ation) -335.99300 (and) -336.00800 (hypotheses) ] TJ T* [ <7665726902636174696f6e> -260.98000 (module) -260.01400 (as) -261.00400 (a) -261.01000 <026e616c> -260.01300 (r) 37.01960 <65026e656d656e74> -261.00300 (step) -259.98100 (to) -261.00300 (r) 37.01830 (eject) -261.01300 (false) ] TJ T* [ (detections\056) -355.98700 (W) 91.98590 (e) -265.02000 (pr) 44.98390 (o) 10.00320 (vide) -265.01100 (two) -264.98900 (additional) -266.01400 (c) 15.01220 (halle) 1 (n) -1.01454 (gi) 0.99248 (ng) -265.98500 (datasets) ] TJ T* [ (inspir) 37.01100 (ed) -259.01500 (fr) 44.98640 (om) -259.00800 (r) 37.01960 (ealistic) -260.00400 (scenarios) -258.98400 (to) -259.00300 (e) 19.99180 (xtensively) -259.00600 (e) 15.01220 (valuate) -260.01500 (the) ] TJ 11.95590 TL T* [ (state) -211.98300 (of) -213.01100 (the) -211.99600 (art) -211.98500 (and) -213.00900 (our) -211.98800 (fr) 14.99140 (ame) 14.98160 (work\056) -296.98700 (One) -212.98200 (is) -211.99200 (r) 37.01830 (elated) -211.98900 (to) -213.01100 (domes\055) ] TJ 11.95510 TL T* [ (tic) -386.98400 (en) 39.99390 (vir) 44.98210 (onments) -387.98700 (and) -387.01900 (the) -388.00600 (other) -387.01500 (depicts) -387.99200 (a) -386.98900 (bin\055pic) 20.01870 (king) -388.00100 (sce\055) ] TJ T* [ (nario) -266.98600 (mostly) -266.99000 (found) -266.98700 (in) -267.00200 (industrial) -266.99200 (settings\056) -360.99600 (W) 91.98710 (e) -268 (show) -266.98500 (that) -266.99000 (our) ] TJ T* [ (fr) 14.99140 (ame) 14.98160 (work) -225.00100 <7369676e690263616e746c79> -225.00900 (outperforms) -223.99000 (state) -225 (of) -225.00900 (the) -225.01400 (art) -225.00400 (both) -225 (on) ] TJ T* [ (public) -250.01200 (and) -249.98200 (on) -249.98800 (our) -249.98200 (datasets\056) ] TJ /R16 11.95520 Tf 27.14880 TL T* [ (1\056) -249.99000 (Intr) 18.01460 (oduction) ] TJ /R18 9.96260 Tf 11.95470 -15.35700 Td [ (Detection) -347.01900 (and) -348.01400 (pose) -346.98900 (estimation) -348.01200 (of) -347 (e) 25.01050 (v) 14.98280 (eryday) -348.01800 (objects) -347.01800 (is) -348.00800 (a) ] TJ -11.95470 -11.95510 Td [ (challenging) -246.98400 (problem) -246.99100 (arising) -246.99400 (in) -247.00500 (man) 14.99010 (y) -247.01300 (practical) -247.01300 (applications\054) ] TJ 11.95590 TL T* [ (such) -271.98200 (as) -273.01100 (robotic) -272.01100 (manipulation) -272.01500 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 171.64600 116.86500 Tm (18) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 181.60900 116.86500 Tm [ (\135\054) -277.99400 (tracking) -272.01600 (and) -273.00800 (augmented) ] TJ -131.49600 -11.95510 Td [ (reality) 64.98430 (\056) -485.01500 (Lo) 24.98540 (w\055cost) -308.01400 (a) 19.99180 (v) 24.98110 (ailability) -309.00200 (of) -307.98700 (depth) -308.00900 (data) -307.98500 (f) 9.99588 (acilitates) -308.98300 (pose) ] TJ 11.95510 TL T* [ (estimation) -247.98900 <7369676e690263616e746c79> 64.99040 (\054) -247.99500 (b) 20.00160 (ut) -247.00500 (still) -248.00300 (one) -247.99200 (has) -247.99000 (to) -247.00500 (cope) -247.99500 (with) -248.01500 (man) 14.99010 (y) ] TJ T* [ (challenges) -463.98300 (such) -465.00800 (as) -464 (vie) 24.98360 (wpoint) -464.98900 (v) 24.98110 (ariability) 65.00390 (\054) -517.99000 (clutter) -463.98600 (and) -465.01600 (oc\055) ] TJ ET Q q 3254.13000 3908.74000 991.14800 822.23800 re W* n q 1265.75000 0 0 -949.30700 3200.41000 4847.29000 cm /R26 Do Q Q q 3206.75000 3759.17000 2126.22000 1883.65000 re W n q 10 0 0 10 0 0 cm BT /R27 7.58015 Tf 1 0 0 1 372.02500 383.04100 Tm (c\051) Tj ET Q Q q 4353.54000 4850.58000 930.28100 744.87100 re W* n q 3168.96000 0 0 -1782.54000 2537.68000 6278.97000 cm /R29 Do Q Q q 3206.75000 3759.17000 2126.22000 1883.65000 re W n q 10 0 0 10 0 0 cm BT /R27 7.58015 Tf 1 0 0 1 478.71000 477.22500 Tm (b\051) Tj ET Q Q q 4353.54000 3907.84000 930.28100 823.12500 re W* n q 3801.37000 0 0 -2138.27000 2573.86000 5679.11000 cm /R30 Do Q Q q 3206.75000 3759.17000 2126.22000 1883.65000 re W n q 10 0 0 10 0 0 cm BT /R27 7.58015 Tf 1 0 0 1 478.71000 382.95100 Tm (d\051) Tj ET Q q 993.65000 0 0 -745.22500 3252.23000 5597.34000 cm /R31 Do Q q 10 0 0 10 0 0 cm BT /R27 7.58015 Tf 1 0 0 1 371.96200 477.37900 Tm [ (a) 0.35429 (\051) ] TJ ET Q Q q 10 0 0 10 0 0 cm BT /R18 8.96640 Tf 1 0 0 1 308.86200 370.28400 Tm [ (Figure) -353.01600 (1\072) -515.02200 (Sample) -352.01100 (photos) -353 (from) -352.98900 (our) -351.98100 (dataset\056) -617.98600 (a\051) -353 (Scene) -352.00300 (containing) ] TJ 10.95900 TL T* [ (objects) -336.99500 (from) -336.99800 (a) -336.99800 (supermark) 10.00920 (et\054) -359.01200 (b\051) -336.99500 (our) -336.99500 (system\047) 55.01770 (s) -337.01700 (e) 24.99020 (v) 25.00660 (aluation) -336.98900 (on) -336.97900 (a\051\054) -357.98800 (c\051) ] TJ T* [ (Bin\055picking) -384.98200 (scenario) -385.00100 (with) -384.97900 (multiple) -385.00400 (objects) -385.00400 (stack) 9.99826 (ed) -385.00900 (on) -384.98800 (a) -386.00600 (bin\054) -417.97800 (d\051) ] TJ T* [ (our) -249.99200 (system\047) 55.01770 (s) -250.01700 (e) 24.98750 (v) 25.00660 (aluation) -249.98900 (on) -249.97800 (c\051\056) ] TJ /R18 9.96260 Tf 29.25900 TL T* [ (clusions\056) -515.99200 (When) -318.01800 (objects) -318.98400 (ha) 19.99670 (v) 14.98280 (e) -317.99100 (suf) 24.98600 <026369656e74> -318.98100 (te) 14.98280 (xture\054) -336.01300 (techniques) ] TJ 11.95510 TL T* [ (based) -249.01000 (on) -249.00700 (k) 10.00320 (e) 15.01220 (y\055point) -248.98500 (matching) -248.98300 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 429.76800 296.19300 Tm (22) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 439.73000 296.19300 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 444.70200 296.19300 Tm (30) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 454.66400 296.19300 Tm [ (\135) -250.00200 (demonstr) 1.01454 (ate) -249.99700 (good) -248.99800 (re\055) ] TJ -145.80200 -11.95510 Td [ (sults\054) -430.01200 (yet) -392.98600 (when) -394.00500 (there) -392.99300 (is) -394 (a) -394.01800 (lot) -393.01300 (of) -394.01300 (clutter) -393.99800 (in) -392.98300 (the) -394.00300 (scene) -394.01300 (the) 14.98770 (y) ] TJ 11.95470 TL T* [ (depict) -423.99300 (man) 14.99010 (y) -422.98300 (f) 9.99588 (alse) -424.00300 (positi) 25.01300 (v) 14.98280 (e) -422.99300 (matches) -423.98800 (which) -423.01300 (de) 15.01710 (grades) -424.00300 (their) ] TJ T* [ (performance\056) -317.98400 (Also\054) -254.01200 (holistic) -251.99700 (template\055based) -252.98700 (techniques) -252.98700 (pro\055) ] TJ 11.95590 TL T* [ (vide) -362.98600 (superior) -362.98100 (performance) -362.99800 (when) -362.98800 (dealing) -363.99800 (with) -363.01300 (te) 14.98280 (xture\055less) ] TJ 11.95510 TL T* [ (objects) -308.98500 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 343.48200 236.41700 Tm (14) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 353.44500 236.41700 Tm [ (\135\054) -323.00500 (b) 20.00160 (ut) -308.01500 (suf) 24.98360 (fer) -309.01700 (in) -308.01700 (cases) -309.00700 (of) -309.00700 (occlusions) -307.98800 (and) -309.00200 (changes) ] TJ -44.58240 -11.95510 Td [ (in) -251.00500 (lighting) -251.98700 (conditions\054) -251.00500 (while) -252.01700 (the) -251.00700 (performance) -251.01700 (also) -251.98200 (de) 15.01710 (grades) ] TJ 11.95510 TL T* [ (when) -340.99500 (objects) -340 (ha) 19.99670 (v) 14.98280 (e) -341.00700 (not) -340.98500 <7369676e690263616e74> -340.01200 (geometric) -340.98200 (detail\056) -582 (In) -341.00200 (or) 19.99670 (\055) ] TJ T* [ (der) -398.99500 (to) -399.01900 (cope) -398.01000 (with) -399.00900 (the) -398.98500 (abo) 14.98280 (v) 14.98280 (e) -398.99700 (issues\054) -434.99600 (a) -398.99700 (fe) 25.00560 (w) -398.98700 (approaches) -398.98700 (use) ] TJ 11.95590 TL T* [ (patches) -291 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 344.95700 188.59600 Tm (31) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 354.91900 188.59600 Tm [ (\135) -291.99300 (or) -291.00800 (simpler) -292 (pix) 14.99750 (el) -291.00500 (based) -291 (features) -291.99000 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 491.15800 188.59600 Tm (5) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R18 9.96260 Tf 1 0 0 1 496.13900 188.59600 Tm [ (\135) -291.01500 (along) -292.01000 (with) ] TJ -187.27700 -11.95510 Td [ (a) -200.99100 (Random) -200.00800 (F) 14.99260 (orest) -201.01500 <636c61737369026572> 54.99570 (\056) -293.98500 (Although) -200 (promising\054) -211.00900 (these) -201.01500 (tech\055) ] TJ 11.95510 TL T* [ (niques) -308.00300 (rely) -307.98300 (on) -308.99700 (manually) -307.99500 (designed) -308.00300 (features) -307.98800 (which) -308.01200 (are) -309.01700 (dif) 24.98600 <022d> ] TJ T* [ (cult) -282.99700 (to) -284.01900 (mak) 10.01060 (e) -283.01700 (discriminati) 24.98850 (v) 14.98280 (e) -283.01700 (for) -283.01200 (the) -283.98200 (lar) 17.99700 (ge) -283.01200 (range) -283.01200 (of) -283.99200 (e) 25.01050 (v) 14.98280 (eryday) ] TJ T* [ (objects\056) -661.00200 (Last\054) -395.99800 (e) 25.01050 (v) 14.98280 (en) -366.01700 (when) -366.98800 (the) -366.98800 (abo) 14.98280 (v) 14.98280 (e) -367.00200 (dif) 24.98600 <0263756c74696573> -366.99800 (are) -367.00700 (partly) ] TJ T* [ (solv) 15 (ed\054) -216 (multiple) -207.01700 (objects) -207.00200 (present) -207.99500 (in) -207.01400 (the) -207.99500 (s) 0.98513 (cene\054) -216.00800 (occlusions) -208.00500 (and) ] TJ 11.95590 TL T* [ (distructors) -279.99500 (can) -281.01400 (mak) 10.01060 (e) -279.99700 (the) -281.00500 (detection) -280.00700 (v) 14.98280 (ery) -281.01700 (challenging) -279.99700 (from) -281.00200 (a) ] TJ 11.95510 TL T* [ (single) -256.00900 (vie) 24.98360 (wpoint\054) -256.98200 (resulting) -256.00100 (in) -255.98700 (man) 14.99260 (y) -255.99200 (ambiguous) -255.99200 (h) 4.98446 (ypotheses\056) ] TJ T* [ (When) -279.00500 (the) -277.98500 (setup) -278.99300 (permi) 0.99738 (ts\054) -286.01600 (mo) 14.99750 (ving) -278.98800 (the) -277.98300 (camera) -278.98300 (can) -277.99800 (be) -279.01200 (pro) 14.98280 (v) 14.98280 (ed) ] TJ T* [ (v) 14.98280 (ery) -301.99100 <62656e65026369616c> -302.00600 (for) -303.01100 (a) 1.01454 (ccurac) 15.00240 (y) -303.00300 (increase\056) -466 (The) -301.98400 (problem) -302.98400 (is) -302.01300 (ho) 24.98600 (w) ] TJ -13.74100 -29.88790 Td (1) Tj ET Q Q Q q q 1 1 1 rg /a0 gs 48.40600 786.42200 515.18800 -52.69900 re f q /s5 gs /x6 Do Q q /s7 gs /x8 Do Q q /s9 gs /x10 Do Q q /s11 gs /x12 Do Q Q Q Q q 1 0 0 1 0 0 cm BT /F1 12 Tf 14.40000 TL ET 1 1 1 rg n 270 47 72 14 re f* 0.50000 0.50000 0.50000 rg BT /F2 9 Tf 10.80000 TL ET BT 1 0 0 1 297 50 Tm (3583) Tj T* ET Q endstream endobj 15 0 obj << /Filter /FlateDecode /Resources << /ExtGState << /a0 << /CA 1 /ca 1 >> >> /XObject << /x18 16 0 R >> >> /Length 28 /Group << /Type /Group /S /Transparency /CS /DeviceRGB /I true >> /BBox [ 78 746 96 765 ] /Type /XObject /Subtype /Form >> stream x+O4PH/VЯ0Pp 0 endstream endobj 16 0 obj << /Filter /FlateDecode /Resources 17 0 R /Length 107 /Type /XObject /BBox [ 78 746 96 765 ] /Subtype /Form >> stream xe AC̬wʠ =p,?]%+H-
Jc "82w8VSnGW;"
endstream
endobj
17 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
18 0 obj
<<
/Filter /FlateDecode
/Resources <<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
/XObject <<
/x15 19 0 R
>>
>>
/Length 28
/Group <<
/Type /Group
/S /Transparency
/CS /DeviceRGB
/I true
>>
/BBox [ 67 752 84 775 ]
/Type /XObject
/Subtype /Form
>>
stream
x+O4PH/VЯ04Up
0
endstream
endobj
19 0 obj
<<
/Filter /FlateDecode
/Resources 20 0 R
/Length 228
/Type /XObject
/BBox [ 67 752 84 775 ]
/Subtype /Form
>>
stream
xeQKn!s ?FPav6R٪TS.
b];15YyR
{7QL.\:Rv/x9l+L7h%1!}i/AI(kz"U&,YO![R hg{3}4/GyYF:!w}Gn+'xJcO9i뽼_-:`
endstream
endobj
20 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
21 0 obj
<<
/Filter /DCTDecode
/Interpolate true
/Height 1080
/Length 181621
/ColorSpace /DeviceRGB
/Width 1920
/BitsPerComponent 8
/Subtype /Image
>>
stream
Adobe d C
$, !$4.763.22:ASF:=N>22HbINVX]^]8EfmeZlS[]Y C**Y;2;YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY 8"
} !1AQa"q2#BR$3br
%&'()*456789:CDEFGHIJSTUVWXYZcdefghijstuvwxyz
w !1AQaq"2B #3Rbr
$4%&'()*56789:CDEFGHIJSTUVWXYZcdefghijstuvwxyz ? υ܆ gy 7|y+vK<5dxVs
}UH"rԇPp.e mK;Vu\oa#wg5}7,4=ß iZ>N3rh\ՆO&jQ\FHNijΛ1͎v!ւ&Gv 1 d$od75:#G~fY2} oԫ# }3U֦Z oW^*ow `J#YUU'= 뼟<넟;E |G
Qj -^)
!\29wVbA|+mq5,eGFrO >PU_hiR2è= O ?t )5+G a
G Q hyۊ
2