 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.
<clarity>  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.
 Scene images in both environments consist of up to five different objects with varying poses, chosen from a given set of fourteen objects , taken in varying illumination conditions from different distances and camera viewing angles.