Object pose obtaining method, and electronic device

An electronic device, comprising:

• at least one processor;
• and
• a memory communicatively couple to the at least one processor;
• wherein, the memory has instructions executable by the at least one processor stored thereon that, when executed by the at least one processor, cause the at least one processor to perform an object pose obtaining method, the method comprising:
• extracting an image block of an object from an image, and generating a local coordinate system corresponding to the image block;
• obtaining 2D projection key points in an image coordinate system corresponding to a plurality of 3D key points on a 3D model of the object;
• converting the 2D projection key points into the local coordinate system to generate corresponding 2D prediction key points;
• obtaining direction vectors between each pixel point in the image block and each 2D prediction key point, and obtaining a 2D target key point corresponding to each 2D prediction key point based on the direction vectors;
• and
• determining a pose of the object according to the 3D key points and the 2D target key points.

A non-transitory computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are configured to cause a computer to perform an object pose obtaining method, the method comprising:

• extracting an image block of an object from an image, and generating a local coordinate system corresponding to the image block;
• obtaining 2D projection key points in an image coordinate system corresponding to a plurality of 3D key points on a 3D model of the object;
• converting the 2D projection key points into the local coordinate system to generate corresponding 2D prediction key points;
• obtaining direction vectors between each pixel point in the image block and each 2D prediction key point, and obtaining a 2D target key point corresponding to each 2D prediction key point based on the direction vectors;
• and
• determining a pose of the object according to the 3D key points and the 2D target key points.