Patent ID: 8422797

Claim:
A computer-implemented method for training a view-based object recognition classifier, comprising: generating an initial training set of images, wherein an image in the initial training set is generated based on a three-dimensional model and a set of rendering parameter values, the rendering parameter values comprising at least one of an azimuth location of a viewpoint, an elevation location of a viewpoint, and a rotation of a viewpoint around its optical axis; training the classifier using the initial training set; determining the classifier's accuracy; determining a set of one or more local minima of the classifier's output; for each local minimum in the set of local minima: determining a set of rendering parameter values associated with the local minimum, the rendering parameter values comprising at least one of an azimuth location of a viewpoint, an elevation location of a viewpoint, and a rotation of a viewpoint around its optical axis; and generating an additional image based on the three-dimensional model and the determined set of rendering parameter values; training the classifier using the initial training set and the generated additional images.