“…These discriminative methods differ in the organization of training set and in the runtime hypothesis selection [2], varying from Bayesian mixtures of experts (BME) [2,3,4], linear/kernel regression [5], manifold embedding [6], nearestneighbor retrieval from typical examples [7], mixture of probabilistic PCA [8], to mixture of multi-layer perceptrons [9]. We choose the BME model, because the multi-modalities in the image-to-pose distributions can be well modeled by the mixtures of experts.…”