  In this work, we present a modified fuzzy decision forest for real-time 3D
object pose estimation based on typical template representation. We employ an
extra preemptive background rejector node in the decision forest framework to
terminate the examination of background locations as early as possible, result
in a significantly improvement on efficiency. Our approach is also scalable to
large dataset since the tree structure naturally provides a logarithm time
complexity to the number of objects. Finally we further reduce the validation
stage with a fast breadth-first scheme. The results show that our approach
outperform the state-of-the-arts on the efficiency while maintaining a
comparable accuracy.
