Patent ID: 11941846
Assignee: ROBERT BOSCH GMBH
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 3:
4. The method as recited in claim 1, further comprising:
recording a plurality of camera images of the object, each camera image of the plurality of camera images being recorded from one respective perspective each of a plurality of perspectives differing pairwise,
ascertaining, for each camera image of the plurality of camera images, a correspondence between camera pixels of the first camera image and vertices of the 3D model; and
ascertaining the pose of the object from a set of poses by minimizing, across the set of poses, a loss function, the loss function for each pose being provided by:
for each camera image of the plurality of camera images, projecting vertices of the 3D model into a respective camera image plane according to the respective perspective, in the event that the 3D model is situated in the pose,
for each camera image of the plurality of camera images, calculating distance measures between the projections of the vertices projected according to the respective perspective and the camera pixels of the camera image, which are assigned to the vertices projected according to the respective perspective, and
accumulating the calculated distance measures to the loss function.