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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.:

US 12657357 B1

PDFFull Text
Date of Patent:
Jun. 16, 2026

Filed:

Jan. 31, 2022

6d object pose estimation with 2d and 3d pointwise features

Applicant:

Robert Bosch Gmbh, Stuttgart, DE;

Inventors:

Yuliang Guo, Palo Alto, CA (US);

Xinyu Huang, San Jose, CA (US);

Liu Ren, Saratoga, CA (US);

Assignee:

Robert Bosch GmbH, , DE;

Attorney:

Dickinson Wright PLLC

Primary Examiner:

Emerson C Puente

Assistant Examiner:

Amir Elsayed Darwish

Int. Cl.
CPC ...
G06N 7/01 (2023.01); E21B 47/07 (2012.01); E21B 47/10 (2012.01); G06F 30/27 (2020.01); G06T 7/73 (2017.01); G06V 10/00 (2022.01); G06V 10/70 (2022.01); G06V 10/75 (2022.01);
U.S. Cl.
CPC ...
G06F 30/27 (2020.01); G06T 7/75 (2017.01); G06V 10/00 (2022.01); G06V 10/70 (2022.01); G06V 10/751 (2022.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01);
Abstract

Methods and systems for determining a 6D pose of an object in an image are disclosed. In embodiments, an input image is received from a sensor, wherein the input image includes an object in the image. A trained image encoder transforms the input image into a normal map and an instance segmentation map. The normal map is encoded with pointwise 2D features. A 3D CAD model is selected from memory that resembles the object in the image. The 3D CAD model is encoded with pointwise 3D features. The pointwise 2D features are matched with the pointwise 3D features to obtain correspondences between the 2D features and the 3D features. The 6D pose of the object is then determined based on the correspondences.

Find Patent Forward Citations

Guo, Yuliang. (2026). 6d object pose estimation with 2d and 3d pointwise features (U.S. Patent No. 12657357). U.S. Patent and Trademark Office. https://idiyas.com/patent/badge/12657357

Data source: USPTO (United States Patent and Trademark Office) public patent records. Weekly synchronization. How IDiyas builds this profile

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