US 12,175,703 B2
Single-stage category-level object pose estimation
Stanley Thomas Birchfield, Sammamish, WA (US); Jonathan Tremblay, Redmond, WA (US); Yunzhi Lin, Marietta, GA (US); and Stephen Walter Tyree, University City, MO (US)
Assigned to NVIDIA Corporation, Santa Clara, CA (US)
Filed by NVIDIA Corporation, Santa Clara, CA (US)
Filed on Sep. 9, 2021, as Appl. No. 17/470,979.
Claims priority of provisional application 63/151,387, filed on Feb. 19, 2021.
Prior Publication US 2022/0277472 A1, Sep. 1, 2022
Int. Cl. G06T 7/73 (2017.01); B25J 9/16 (2006.01); G06N 3/08 (2023.01); G06T 7/60 (2017.01)
CPC G06T 7/73 (2017.01) [B25J 9/1612 (2013.01); B25J 9/1697 (2013.01); G06N 3/08 (2013.01); G06T 7/60 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20132 (2013.01)] 32 Claims
OG exemplary drawing
 
1. A method to determine a pose and relative dimensions of an object depicted in an image, the image having a set of features, the method comprising:
processing the set of features to determine a first set of data corresponding to the object;
calculating a second set of data based at least in part on the set of features and the first set of data;
calculating a set of values corresponding to the relative dimensions of the object based at least in part on the second set of data; and
processing the first set of data, the second set of data, and the set of values to determine the pose and the relative dimensions of the object depicted in the image.