How to measure the pose robustness of object views

Abstract The viewing hemisphere of a three-dimensional object can be partitioned into areas of similar views, which provide pose robustness. We compare two procedures for measuring the robustness of views to pose variation: tracking of object features, i.e. Gabor wavelet responses, by utilizing the continuity of successive views and matching of features in different views, which are assumed to be independent. Both procedures proved to be appropriate to detect canonical views. We found no difference concerning the size of the view bubbles, but tracking provides more precise correspondences than matching. Tracking is more appropriate for recognizing changes of features, whereas matching is more suitable if features of the same appearance are to be found.