Pose estimation and model retrieval for objects in images
AssigneeQUALCOMM Technologies, Inc.
InventorsAlexander Grabner, Peter Michael Roth, Vincent Lepetit
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Abstract
Techniques are provided for selecting a three-dimensional model. An input image including an object can be obtained, and a pose of the object in the input image can be determined. One or more candidate three-dimensional models representing one or more objects in the determined pose can be obtained. From the one or more candidate three-dimensional models, a candidate three-dimensional model can be determined to represent the object in the input image.
Claims30
A method of selecting a three-dimensional model, the method comprising:
- obtaining a first input image including an object;
- determining a pose of the object in the first input image;
- obtaining a plurality of candidate three-dimensional models representing one or more objects;
- obtaining a descriptor for the object in the first input image and a plurality of descriptors for the plurality of candidate three-dimensional models;
- determining, from the plurality of candidate three-dimensional models, a candidate three-dimensional model to represent the object in one or more images based on the descriptor for the object in the first input image and the plurality of descriptors for the plurality of candidate three-dimensional models;
- obtaining a second input image including the object in a different pose than the pose of the object in the first input image;
- and
- adjusting a pose of the candidate three-dimensional model in an output image based on a difference between the pose of the object in the second input image and the pose of the object in the first input image.
An apparatus for selecting a three-dimensional model, comprising:
- a memory configured to store one or more images;
- and
- a processor configured to:
- obtain a first input image including an object;
- determine a pose of the object in the first input image;
- obtain a plurality of candidate three-dimensional models representing one or more objects;
- obtain a descriptor for the object in the first input image and a plurality of descriptors for the plurality of candidate three-dimensional models;
- determine, from the plurality of candidate three-dimensional models, a candidate three-dimensional model to represent the object in one or more images based on the descriptor for the object in the first input image and the plurality of descriptors for the plurality of candidate three-dimensional models;
- obtain a second input image including the object in a different pose than the pose of the object in the first input image;
- and
- adjust a pose of the candidate three-dimensional model in an output image based on a difference between the pose of the object in the second input image and the pose of the object in the first input image.
A non-transitory computer-readable medium having stored thereon instructions that, when executed by one or more processors, cause the one or more processors to:
- obtain a first input image including an object;
- determine a pose of the object in the first input image;
- obtain a plurality of candidate three-dimensional models representing one or more objects;
- obtain a descriptor for the object in the first input image and a plurality of descriptors for the plurality of candidate three-dimensional models;
- determine, from the plurality of candidate three-dimensional models, a candidate three-dimensional model to represent the object in one or more images based on the descriptor for the object in the first input image and the plurality of descriptors for the plurality of candidate three-dimensional models;
- obtain a second input image including the object in a different pose than the pose of the object in the first input image;
- and
- adjust a pose of the candidate three-dimensional model in an output image based on a difference between the pose of the object in the second input image and the pose of the object in the first input image.
Dependencies are inferred from the claim text.