Methods and systems of performing object pose estimation
First Claim
1. A method of estimating a three-dimensional pose of an object, the method comprising:
- obtaining an image including the object;
determining a plurality of two-dimensional projections of points of a virtual three-dimensional bounding box of the object, the plurality of two-dimensional projections of the points of the virtual three-dimensional bounding box being determined by applying a trained regressor to the image, wherein the trained regressor is trained to predict two-dimensional projections of the virtual three-dimensional bounding box of the object in a plurality of poses; and
estimating the three-dimensional pose of the object using the plurality of two-dimensional projections of the points of the virtual three-dimensional bounding box.
1 Assignment
0 Petitions
Accused Products
Abstract
Techniques are provided for estimating a three-dimensional pose of an object. An image including the object can be obtained, and a plurality of two-dimensional (2D) projections of a three-dimensional bounding (3D) box of the object in the image can be determined. The plurality of 2D projections of the 3D bounding box can be determined by applying a trained regressor to the image. The trained regressor is trained to predict two-dimensional projections of the 3D bounding box of the object in a plurality of poses, based on a plurality of training images. The three-dimensional pose of the object is estimated using the plurality of 2D projections of the 3D bounding box.
31 Citations
30 Claims
-
1. A method of estimating a three-dimensional pose of an object, the method comprising:
-
obtaining an image including the object; determining a plurality of two-dimensional projections of points of a virtual three-dimensional bounding box of the object, the plurality of two-dimensional projections of the points of the virtual three-dimensional bounding box being determined by applying a trained regressor to the image, wherein the trained regressor is trained to predict two-dimensional projections of the virtual three-dimensional bounding box of the object in a plurality of poses; and estimating the three-dimensional pose of the object using the plurality of two-dimensional projections of the points of the virtual three-dimensional bounding box. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. An apparatus for estimating a three-dimensional pose of an object, comprising:
-
a memory configured to store an image including the object; and a processor configured to; obtain the image including the object; determine a plurality of two-dimensional projections of points of a virtual three-dimensional bounding box of the object, the plurality of two-dimensional projections of the points of the virtual three-dimensional bounding box being determined by applying a trained regressor to the image, wherein the trained regressor is trained to predict two-dimensional projections of the virtual three-dimensional bounding box of the object in a plurality of poses; and estimate the three-dimensional pose of the object using the plurality of two-dimensional projections of the points of the virtual three-dimensional bounding box. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
-
-
23. A non-transitory computer readable medium having stored thereon instructions that, when executed by one or more processors, cause the one or more processor to:
-
obtain an image including an object; determine a plurality of two-dimensional projections of points of a virtual three-dimensional bounding box of the object, the plurality of two-dimensional projections of the points of the virtual three-dimensional bounding box being determined by applying a trained regressor to the image, wherein the trained regressor is trained to predict two-dimensional projections of the virtual three-dimensional bounding box of the object in a plurality of poses; and estimate a three-dimensional pose of the object using the plurality of two-dimensional projections of the points of the virtual three-dimensional bounding box. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30)
-
Specification