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Reviewer #1: The paper brings a 3D pose tracking solution based on estimation of the 3D appearance models eliminating the need for hand-estimated models.
The manuscript is well organized and presents good English quality. Also, the overall presentation is good (formatting, pictures, pseudo-algorithms).
Authors present a strong motivation and state-of-the-art revision. In the following, a technical description of the solution is presented. It sounds clear and adequate for replication.
The paper is dense and longer discussion - specially Section 2 - would be desirable. However, this is understandable in the case of a letter paper.
Qualitative and quantitative results are presented and compared against related works. The results are promising and, for most scenarios, outperform the related works. Comparing against more recent solutions (2012 or later) would increase the paper impact.
Summarizing, the paper is well presented and brings strong content. In my opinion, it is worth for publication as a letter paper.

Minor:
Avoid imprecise statements such as: "Pick a modest value for ¦Ë, say ¦Ë= 0:001;"
What "statistical results" mean in: "Statistical results show that our proposed..."? Is it an average over all experiments?
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