Method and apparatus for three-dimensional object pose estimation, device and storage medium

A terminal device, comprising:

• one or more processors;
• a memory, configured to store one or more programs;
• wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to:
• calculate a graph of a previous frame and a graph of a current frame for a target three-dimensional object;
• perform a matching calculation on the graph of the previous frame and the graph of the current frame by using a graph matching algorithm to obtain a vertex correspondence relationship between the graph of the previous frame and the graph of the current frame;
• calculate a pose of the target three-dimensional object in the current frame according to the vertex correspondence relationship, a pose of the target three-dimensional object in the previous frame and a perspective n-point (PnP) algorithm;
• wherein the one or more processors are further caused to:
• obtain a mask image of the previous frame for the target three-dimensional object;
• extract feature points of the target three-dimensional object in the image of the previous frame in a region with a pixel value of 1 in the mask image of the previous frame, and extract the feature points of the target three-dimensional object in the image of the current frame in the region with the pixel value of 1 in the mask image of the previous frame;
• connect adjacent feature points corresponding to the image of the previous frame to form the graph of the previous frame, and connect adjacent feature points corresponding to the image of the current frame to form the graph of the current frame;
• wherein vertices in the graph of the previous frame and the graph of the current frame are feature points, and a weight of an edge is an average value of response values of two feature points corresponding to the edge.