The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 14, 2021
Filed:
Sep. 17, 2020
Tsinghua University, Beijing, CN;
TSINGHUA UNIVERSITY, Beijing, CN;
Abstract
The present disclosure relates to a method and an apparatus for training a 6D pose estimation network based on deep learning iterative matching. The method includes: obtaining a rendered image and a first segmentation mask of a target object by using a 3D model and an initial 6D pose estimation of the target object; inputting the rendered image, the first segmentation mask, an observed image of the target object, and a second segmentation mask of the target object in the observed image into a deep convolutional neural network to obtain a 6D pose estimation, a third segmentation mask and an optical flow; and performing said obtaining and said inputting again by updating the initial 6D pose estimation using the obtained relative 6D pose estimation and replacing the second segmentation mask with the third segmentation mask, to iteratively train the deep convolutional neural network.