1. Introduction
The pose of an object carries crucial semantic meaning for object manipulation and usage (e.g., grabbing a mug, watching a television). Just as pose estimation is part of object recognition, viewpoint recognition is a necessary and fundamental component of scene recognition. For instance, as shown in Figure 1, a theater has a clear distinct distributions of objects - a stage on one side and seats on the other - that defines unique views in different orientations. Just as observers will choose a view of a television that allows them to see the screen, observers in a theater will sit facing the stage when watching a show. Scene viewpoint recognition within a place. Illustration of a viewpoint homogeneous scene and object.