Algorithm 2 Initial Object Pose Quality Check.
Require: $Ob{j}^Q,{\mathcal{F}}^Q,{\mathbf{DB}}^L$	▹ N/A
Ensure: $N/A$	▹ N/A
1: if $Ob{j}^Q$ is not the first-time detected then
2:   return
3: end if
4: $FACES\leftarrow \mathrm{Enumerate}\mathrm{faces}\mathrm{from}\mathrm{model}({\mathbf{DB}}^L,Ob{j}^Q)$
5: $MAS{K}^Q\leftarrow \mathrm{Generate}\mathrm{all}-\mathrm{true}\mathrm{mask}\left({\mathcal{F}}^Q\right)$
6: $VALIDS\leftarrow \varphi$
7: while $FACES$ is not empty do
8:    $fid\leftarrow FACES.\mathrm{pop}\left(\right)$
9:    ${\mathcal{F}}^L,MAS{K}^L,{\mathbf{x}}^L\leftarrow \mathrm{GETFACE}({\mathbf{DB}}^L,\mathrm{GETCLASSID}\left(Ob{j}^Q\right),fid)$
10:    ${\mathbf{p}}^L,{\mathbf{p}}^Q\leftarrow \mathrm{CFM}({\mathcal{F}}^L,{\mathcal{F}}^Q,MAS{K}^L,MAS{K}^Q)$
11:    if QUALITYTEST(${\mathbf{p}}^L,{\mathbf{p}}^Q$) is not passed then
12:       continue
13:    end if
14:    $VALIDS$.add($fid$)
15:    $FACES\leftarrow \varphi$
16:    $T\leftarrow \mathrm{ESTIMATEPOSE}$(${\mathbf{x}}^L,{\mathbf{p}}^L,{\mathbf{p}}^Q$)
17:    ${\mathbf{p}}^{\prime }\leftarrow$ project all endpoints of faces in ${\mathbf{x}}^L$ by T
18:    if $VALIDS$.size()$=1$ then
19:       for $nfid$ in neighboring face IDs of $fid$ do
20:           if $nfid$ in $VALIDS$ or any of its endpoints in area of $fid$ then
21:            continue
22:           end if
23:           $FACES$.add($nfid$)
24:           $MAS{K}^Q\leftarrow$mask out the area of $nfid$ in $MAS{K}^Q$
25:       end for
26:    end if
27: end while