| CPC G06T 7/73 (2017.01) [G06T 7/10 (2017.01); G06T 17/20 (2013.01); G06T 2207/20084 (2013.01)] | 20 Claims |
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1. A method of estimating a pose of a target object in a three-dimensional environment, the method comprising, using one or more processors:
obtaining image data and associated depth information representing a view of the three-dimensional environment;
processing the image data and the associated depth information to generate a volumetric reconstruction for each of a plurality of objects in the three-dimensional environment, including the target object;
determining a volumetric grid containing the target object;
generating, using the generated volumetric reconstructions, occupancy data indicating portions of the volumetric grid occupied by free space and portions of the volumetric grid occupied by objects other than the target object; and
estimating the pose of the target object using the generated occupancy data and pointwise feature data for a plurality of points on a surface of the target object.
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