Method, apparatus, electronic device and storage medium for estimating object pose
AssigneeSamsung Electronics Co., Ltd.
InventorsChao ZHANG, Jiyeon KIM, Yang LIU, Yueying KAO, Hao WANG, Hyun Sung CHANG, Qiang WANG, Sunghoon HONG, Weiming LI
Life of this patent
Estimating the term…
Abstract
A method, an apparatus, an electronic device for estimating a pose of an object include determining a confidence of a depth image of an object based on a color image and the depth image of the object, estimating a pose of the object based on a three-dimensional (3D) keypoint in response to the depth image being reliable, and estimating the pose of the object based on a two-dimensional (2D) keypoint in response to the depth image being unreliable.
Claims20
An object pose estimation method, the method comprising:
- determining a confidence of a depth image of an object based on a color image and the depth image of the object;
- estimating a pose of the object based on a three-dimensional (3D) keypoint in response to the depth image being reliable;
- and
- estimating the pose of the object based on a two-dimensional (2D) keypoint in response to the depth image being unreliable.
An object pose estimation apparatus comprising:
- an image confidence determiner configured to determine a confidence of a depth image of an object based on a color image and the depth image of the object;
- and
- a pose estimator configured to estimate a pose of the object based on a three-dimensional (3D) keypoint in response to the depth image being reliable, and to estimate the pose of the object based on a two-dimensional (2D) keypoint in response to the depth image being unreliable.
An electronic device comprising:
- a processor configured to
- determine a confidence of a depth image of an object based on a color image and the depth image of the object;
- estimate a pose of the object based on a three-dimensional (3D) keypoint in response to the depth image being reliable;
- and
- estimate the pose of the object based on a two-dimensional (2D) keypoint in response to the depth image being unreliable.
Dependencies are inferred from the claim text.