Training apparatus and method for machine learning model, and estimation apparatus for three-dimensional pose

A training apparatus for a machine learning model, comprising at least one processor configured to:

• acquire a plurality of two-dimensional images and a machine learning model to be trained, wherein the plurality of two-dimensional images comprise a target, and the machine learning model comprises a first three-dimensional pose estimation module and a second three-dimensional pose estimation module;
• based on any one of the two-dimensional images, use the first three-dimensional pose estimation module to estimate a first three-dimensional pose of the target;
• based on at least two of the two-dimensional images, use the second three-dimensional pose estimation module to estimate a second three-dimensional pose of the target, wherein the at least two of the two-dimensional images have different viewing angles from each other;
• and
• train, based on a difference between the first three-dimensional pose and the second three-dimensional pose, at least one of the first three-dimensional pose estimation module or the second three-dimensional pose estimation module.