Table of Contents

1. Introduction.- 2. Previous Work.- 3. Render: Predicting Scenes.- 4. Match: Comparing Images.- 5. Refine: Iterative Search.- 6. Evaluation.- 7. Conclusions.- Appendices.- A— Generating Scene Hypotheses.- 1. Object Detection and Pose Indexing.- 2. Detection based on Color Decision Trees.- 3. Pose Indexing.