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Since inertial sensors are easily available nowadays, we propose the use of them to estimate the orientation change of the camera and thus to estimate the probability of relative poses. With the help of relative orientation change, we can compute transition probabilities between possible poses and can use a hidden Markov model to evaluate state (pose) sequences and can thus increase the recognition rate. Furthermore, we can plan our next viewing position to minimize the risk of misclassification, resulting in higher overall recognition rates. 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