Object pose determination system and method

An apparatus for determining an object pose of an object comprising:

• one or more processors;
• and
• one or more non-transitory, computer-readable media comprising instructions that, when executed by the one or more processors, cause operations comprising:
• obtaining, for a time frame, sensor data of the object acquired by a plurality of sensors;
• generating a bounding box of the object in a projection plane based on the sensor data of the time frame, wherein the bounding box is two-dimensional (2D);
• generating a pose model of the object based on the sensor data of the time frame and a model reconstruction algorithm, the pose model being three-dimensional (3D) and comprising a set of parameter values of a pose parameter set;
• generating, based on the sensor data, the pose model, and a plurality of sampling techniques, a plurality of pose hypotheses of the object corresponding to the time frame, wherein:
• each of the plurality of pose hypotheses comprises a set of parameter values of the pose parameter set depicting a hypothesized 3D pose of the object, and
• the plurality of sampling techniques comprises at least one of data fusion or data perturbation;
• generating a hypothesis projection of the object for each of the plurality of pose hypotheses by projecting the pose hypothesis onto the projection plane;
• determining evaluation results by comparing the hypothesis projections with the bounding box;
• and
• determining, based on the evaluation results, the object pose for the time frame.