Patent ID: 11915451
Assignee: SIEMENS AKTIENGESELLSCHAFT
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 7:
8. A System for object detection and pose estimation within an input image, the system comprising:
an input interface for receiving the input image;
a computing device configured to implement a trained encoder-decoder convolutional artificial neural network comprising an encoder head, an ID mask decoder head, a first correspondence color channel decoder head and a second correspondence color channel decoder head;
wherein the ID mask decoder head is configured and trained to generate an ID mask identifying one or more objects and background in the received input image;
wherein the first correspondence color channel decoder head is configured and trained to generate a first correspondence color channel of a 2D-to-3D-correspondence map for the one or more objects within the received input image;
wherein the second correspondence color channel decoder head is configured and trained to generate a second correspondence color channel of the 2D-to-3D-correspondence map;
wherein the computing device is further configured to implement a combining module and a pose determining module;
wherein the combining module is configured to generate the 2D-to-3D-correspondence map using the generated first correspondence color channel and the generated second correspondence color channel; and
wherein the pose determining module is configured to determine, for an object of the one or more objects identified by the ID mask, a pose estimation based on the generated 2D-to-3D-correspondence map and on a pre-generated bijective association of points of the object with unique value combinations in the first correspondence color channel and the second correspondence color channel.