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:
Jun. 24, 2025
Filed:
Feb. 21, 2020
Toyota Motor Europe, Brussels, BE;
Sven Meier, Brussels, BE;
Norimasa Kobori, Brussels, BE;
Luca Minciullo, Brussels, BE;
Kei Yoshikawa, Brussels, BE;
Fabian Manhardt, Munich, DE;
Manuel Nickel, Munich, DE;
Nassir Navab, Munich, DE;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Abstract
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.