Before revision:  In contrast to previous works that directly map from local appearance to 3D angles, we explore a progressive approach by extracting meaningful Intermediate Geometrical Representations (IGRs) for 3D pose estimation. We design a deep model that transforms perceived intensities to IGRs, which are mapped to a 3D representation encoding object orientation in the camera coordinate system.
After revision:  In contrast to previous works that directly map from local appearance to 3D angles, we explore a progressive approach by extracting meaningful Intermediate Geometrical Representations (IGRs) to estimate egocentric vehicle orientation. This approach features a deep model that transforms perceived intensities to IGRs, which are mapped to a 3D representation encoding object orientation in the camera coordinate system.