Device and method for training a machine learning model for recognizing an object topology of an object from an image of the object

Abstract

A method for training a machine learning model for recognizing an object topology of an object from an image of the object. The method includes obtaining a 3D model of the object, wherein the 3D model comprises a mesh of vertices connected by edges, wherein each edge has a weight which specifies proximity of two vertices connected by the edge in the object; determining a descriptor for each vertex of the mesh by searching descriptors for the vertices which minimize the sum, over pairs of connected vertices, of distances between the descriptors of the pair of vertices weighted by the weight of the edge between the pair of vertices; generating training data image pairs, wherein each training data image pair comprises a training input image showing the object and a target image; and training the machine learning model by supervised learning using the training data image pairs as training data.