The pose distribution estimate of our method is shown for both unambiguous and ambiguous views. The top images display the test object in two different poses. Below, the distribution estimates are visualized. The red line indicates the probability of each revolution. The dotted green line shows the same revolution probability for the reflected pose. In the left image, the object’s indent is visible, allowing for a single object pose to be identified. In the right image, the indent is not visible, resulting in a much larger pose distribution in both revolution and reflection.