23. The non-transitory computer readable medium of claim 19 , wherein the computer executable instructions defining the step of generating similarity transformation hypotheses from said position-orientation candidates based on scale examples in said set of training volumes comprise computer executable instructions defining the step of: generating a plurality of similarity transformation hypotheses from each position-orientation candidate by applying each of a plurality of scale hypotheses generated based on examples in the training volumes to each position-orientation candidate.
24. The non-transitory computer readable medium of claim 23 , wherein the computer executable instructions defining the step of generating similarity transformation hypotheses from said position-orientation candidates based on scale examples in said set of training volumes further comprise computer executable instructions defining the steps of: generating said plurality of scale hypotheses based on examples in the training volumes by: uniformly sampling a scale space of the training volumes to generate a set of uniformly sampled scales; generating said plurality of scale hypotheses by, for each training volume, adding any of the uniformly sample scales within a specified distance of a ground truth scale in the training volume to said plurality of scale hypotheses; and removing redundant elements from said plurality of scale hypotheses.