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Despite the fact that object detection, 3D pose estimation, and sub-categoryrecognition are highly correlated tasks, they are usually addressedindependently from each other because of the huge space of parameters. Tojointly model all of these tasks, we propose a coarse-to-fine hierarchicalrepresentation, where each level of the hierarchy represents objects at adifferent level of granularity. The hierarchical representation preventsperformance loss, which is often caused by the increase in the number ofparameters (as we consider more tasks to model), and the joint modellingenables resolving ambiguities that exist in independent modelling of thesetasks. We augment PASCAL3D+ dataset with annotations for these tasks and showthat our hierarchical model is effective in joint modelling of objectdetection, 3D pose estimation, and sub-category recognition.

A Coarse-to-Fine Model for 3D Pose Estimation and Sub-category Recognition