Toyota Jidosha Kabushiki Kaisha

Luca Minciullo

Sven Meier

Nassir Navab

Fabian Manhardt

Norimasa Kobori

Kei Yoshikawa

Manuel Nickel

A computer-implemented method of estimating a 6D pose and shape of one or more objects from a 2D image, comprises the steps of: detecting, within the 2D image, one or more 2D regions of interest, each 2D region of interest containing a corresponding object among the one of more objects; cropping out a corresponding pixel value array, coordinate tensor, and feature map for each 2D region of interest; concatenating the corresponding pixel value array, coordinate tensor, and feature map for each 2D region of interest; and inferring, for each 2D region of interest, a 4D quaternion describing a rotation of the corresponding object in the 3D rotation group, a 2D centroid, which is a projection of a 3D translation of the corresponding object onto a plane of the 2D image given a camera matrix associated to the 2D image, a distance from a viewpoint of the 2D image to the corresponding object, a size, and a class-specific latent shape vector of the corresponding object.

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Brussels, Belgium

Luca Minciullo