Figure 1.

Sample images in different levels of variation with Plain Background. The Object images, rendered from 3D planes, vary in four dimensions: size, position (x, y), rotation in-depth, and rotation in plane. To alter the complexity of the images, we constructed images in seven levels of variations starting from zero level variation, which no variation is applied to 3D object planes (first column at left), to seventh level of variation, which substantial variations are applied to images (last column at right). In each level of variation, we randomly sample different values for each dimension (e.g., size, rotation, and position) from a uniform distribution and finally selected values are applied to a 3D plane. As the level of variation increases, the range of values increases. There are several sample object images with natural background in the supplementary materials (Figure S1).