US 11,954,886 B2
Systems and methods for six-degree of freedom pose estimation of deformable objects
Vage Taamazyan, Moscow (RU); Agastya Kalra, Nepean (CA); Kartik Venkataraman, San Jose, CA (US); and Achuta Kadambi, Los Altos Hills, CA (US)
Assigned to Intrinsic Innovation LLC, Mountain View, CA (US)
Filed by INTRINSIC INNOVATION LLC, Mountain View, CA (US)
Filed on Apr. 15, 2021, as Appl. No. 17/232,084.
Prior Publication US 2022/0343537 A1, Oct. 27, 2022
Int. Cl. G06T 7/73 (2017.01); G06F 18/214 (2023.01); G06V 10/40 (2022.01)
CPC G06T 7/75 (2017.01) [G06F 18/214 (2023.01); G06V 10/40 (2022.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01)] 42 Claims
OG exemplary drawing
 
1. A computer-implemented method for computing a pose of a deformable object, the method comprising:
receiving a plurality of images depicting the deformable object from multiple viewpoints;
computing a class of the deformable object depicted in the images;
loading a 3-D model corresponding to the class of the deformable object;
aligning the 3-D model to the deformable object depicted in the plurality of images to compute a pose of the deformable object, including:
refining a plurality of vertex positions of a plurality of vertices of the 3-D model to match appearances of the deformable object in the images captured from the multiple viewpoints,
wherein refining the plurality of vertex positions is performed using a loss function E comprising a first component E1 and a second component E2,
wherein E1 represents pixel-level differences between an appearance of the deformable object in the images and an appearance of the deformable object in renderings of the 3-D model from viewpoints corresponding to the images, and
wherein E2 represents a degree of alignment of a silhouette of the deformable object in the images and a silhouette of the deformable object in the renderings of the 3-D model from the viewpoints corresponding to the images; and
outputting the pose of the deformable object.