It this section, we provide qualitative examples and plots for the experiment “2D-3D Matching as an Object Detector” (Sect. 6.2 in the main paper). To recapitulate, we run our ensemble of NZ-WHO templates on the 3DObject Classes dataset [2], without the finetuning stage. Fig. 1 gives the corresponding detection average precision, average viewpoint precision, viewpoint confusion matrix and mean ...
