“…1 Pose recognition consists in estimating geometric descriptors of a target such as location coordinates and orientation angles, while the target is embedded in a 3-D space, by processing two-dimensional (2-D) image projections of the observed scene. [4][5][6] A particular combination of pose parameters results in a unique view of the target in the observed scene. 2,3 Additionally, the appearance of the target in a scene can be degraded by several factors, such as the presence of noise and background clutter, influence of incident light sources, and partial occlusions of the target, among others.…”