3. The method of claim 1 , wherein said step of generating position-orientation hypotheses from said position candidates based on orientation examples in said set of training volumes comprises: generating a plurality of position-orientation hypotheses from each position candidate by applying each of a plurality of orientation hypotheses generated based on examples in the training volumes to each position candidate.
4. The method of claim 3 , wherein said step of generating position-orientation hypotheses from said position candidates based on orientation examples in said set of training volumes further comprises: generating said plurality of orientation hypotheses based on examples in the training volumes by: uniformly sampling an orientation space of the training volumes using a quaternion representation of the orientation to generate a set of uniformly sampled orientations; generating said plurality of orientation hypotheses by, for each training volume, adding any of the uniformly sample orientations within a specified distance of a ground truth orientation in the training volume to said plurality of orientation hypotheses, wherein the distance between each uniformly sample orientation and the ground truth orientation is calculated using a quaternion distance measurement; and removing redundant elements from said plurality of orientation hypotheses.