---
# System prepended metadata

title: Untitled

---

 1. Predict Features from Input Image
	2. Feed into Patch Proposal Network that predicts:
		1. Center point weight map
		2. N patch size weights per center point
	3. Sampling and Estimation
		1. Sample a pair of center point and patch size
		2. Back project patch to a depth-limited 3D volume
		3. (Center surface CoM in 3D Volume?)
		4. Estimate occupancy function with ONet according to patch size
		5. Count inliers on object surface
			1. Use occupancy function boundary for detecting if surface point is close to estimated surface
		6. Choose patch with highest consensus
	4. Update state
	5. Repeat from 2
