Methods and systems for shape based training for an object detection algorithm

A method comprising:

• (A) receiving, in one or more memories, a 3D model corresponding to an object;
• (B) setting a depth sensor characteristic data set for a depth sensor for use in detecting a pose of the object in a real scene;
• (C) generating blurred 2.5D representation data of the 3D model for at least one view around the 3D model based on the 3D model and the depth sensor characteristic data set, to generate, on the basis of the 2.5D representation data, training data for training an object detection algorithm;
• and
• (D) storing the training data in one or more memories.

A training apparatus comprising:

• one or more memories;
• and
• a processor communicatively coupled to the one or more memories, the processor configured by instructions stored in the one or more memories to perform a method comprising:
• (A) receiving, in the one or more memories, a 3D model corresponding to an object;
• (B) setting a depth sensor characteristic data set for a depth sensor for use in detecting a pose of the object in a real scene;
• (C) generating blurred 2.5D representation data of the 3D model for at least one view around the 3D model based on the 3D model and the depth sensor characteristic data set, to generate, on the basis of the 2.5 representation data, training data for training an object detection algorithm;
• and
• (D) storing the training data in the one or more memories.