System and method for detecting an object in a high dimensional space

A system for detecting objects in a high dimensional image space comprising:

• an acquisition device for acquiring three dimensional images of an object;
• a processor that receives the acquired three dimensional images of the object, the processor performing the following steps on each image:
• training a first classifier in the marginal space of the object center location which generates a predetermined number of candidate object center locations,
• training a second classifier to identify potential object center locations and orientations from the predetermined number of candidate object center locations and maintaining a subset of the candidate object center locations,
• training a third classifier to identify potential locations, orientations and scale of the object center from the subset of the candidate object center locations, and
• identifying a single candidate object pose for the object;
• and
• a display for displaying the detected object.