Object pose estimation

A computer, comprising:

• a processor;
• and
• a memory, the memory including instructions executable by the processor to:
• input a depth image of an object to a deep neural network to determine a first four degree-of-freedom pose of the object;
• input the first four degree-of-freedom pose and a three-dimensional model of the object to a silhouette rendering program to determine a first two-dimensional silhouette of the object;
• threshold the depth image to determine a second two-dimensional silhouette of the object;
• determine a loss function based on comparing the first two-dimensional silhouette of the object which is based on the first four degree-of-freedom pose and the three-dimensional model of the object to the second two-dimensional silhouette of the object which is based on the depth image of the object;
• optimize deep neural network parameters based on the loss function;
• and
• output the deep neural network.