Before revision:  Scene images in both environments consist of up to five different objects with varying poses, chosen from a  set of fourteen objects , taken in varying illumination conditions from different distances and camera viewing angles. The overall performance of our methods, trained using living room images, remains relatively unaltered on the unseen warehouse images , without retraining .
After revision:  Scene images in both environments consist of up to five different objects with varying poses, chosen from a set of fourteen objects . The objects have varying poses and arrangements, and are imaged under different illumination conditions and camera poses. The recognition performance of our methods, trained using living room images, remains relatively unaltered on the unseen warehouse images , without retraining .