i have a bunch of markov chain monte carlo stuff lying around from grad school i can throw at this, just have to port it from matlab
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back in the prehistory of 3d computer vision (2016) we would use probabilistic / ebm models to fit shape templates to street scenes arxiv.org/abs/2107.10898

Pose Estimation and 3D Reconstruction of Vehicles from...

The 3D reconstruction of objects is a prerequisite for many highly relevant applications of computer vision such as mobile robotics or autonomous driving. To deal with the inverse problem of...

arxiv.org
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