 For performance evaluation, in addition to a widely used shape dataset, we collect new datasets comprising scene images from two different environments, i.e. , a living room and a warehouse. 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>  For performance evaluation, in addition to a widely used shape dataset, we collect new datasets comprising scene images from two different environments, i.e. , a living room and a warehouse. 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.
 For performance evaluation, in addition to a widely used shape dataset, we collect new datasets comprising scene images from two different environments, i.e. , a living room and a mock warehouse. The scenes in both the environments include 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.