1. A method of training an estimator to estimate a pose of an object, the method comprising: obtaining a latent tree model of the object; and generating, by way of a processor, a vector pair configured to partition input data received at a latent node into two parts, with respect to a plurality of latent nodes positioned along paths from a root node to a plurality of leaf nodes of the latent tree model, wherein two vectors included in the vector pair are configured to have directions from a center of the input data toward centers of the partitioned two parts.