US 12,148,182 B2
Method, apparatus, electronic device and storage medium for estimating object pose
Chao Zhang, Beijing (CN); Jiyeon Kim, Hwaseong-si (KR); Yang Liu, Beijing (CN); Yueying Kao, Beijing (CN); Hao Wang, Beijing (CN); Hyun Sung Chang, Seoul (KR); Qiang Wang, Beijing (CN); Sunghoon Hong, Hwaseong-si (KR); and Weiming Li, Beijing (CN)
Assigned to Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Sep. 16, 2021, as Appl. No. 17/476,920.
Claims priority of application No. 202011050187.8 (CN), filed on Sep. 29, 2020; and application No. 10-2021-0082024 (KR), filed on Jun. 24, 2021.
Prior Publication US 2022/0101555 A1, Mar. 31, 2022
Int. Cl. G06T 17/00 (2006.01); G06T 7/11 (2017.01); G06T 7/20 (2017.01); G06T 7/60 (2017.01); G06T 7/73 (2017.01)
CPC G06T 7/74 (2017.01) [G06T 7/11 (2017.01); G06T 7/20 (2013.01); G06T 7/60 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20221 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An object pose estimation method, the method comprising:
determining a confidence of a depth image of an object based on a feature determined based on a color image and the depth image of the object;
estimating a pose of the object based on a three-dimensional (3D) keypoint in response to the depth image being reliable; and
estimating the pose of the object based on a two-dimensional (2D) keypoint in response to the depth image being unreliable.