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At the\ncore, we propose a new visual loss that drives the pose update by aligning\nobject contours, thus avoiding the definition of any explicit appearance model.\nIn contrast to previous work our method is correspondence-free,\nsegmentation-free, can handle occlusion and is agnostic to geometrical symmetry\nas well as visual ambiguities. Additionally, we observe a strong robustness\ntowards rough initialization. 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