Patent ID: 11872702
Assignee: THE CHARLES STARK DRAPER LABORATORY, INC.
Field: Handling (Mechanical engineering)
Classification: CPC A  B  G | IPC B  G

Claim 4:
5. The method of claim 1 wherein detecting the 6DOF pose of the object comprises:
processing the image of the object using a neural network to directly determine the 6DOF pose of the object in the reference frame of the image where, processing the image of the object using the neural network includes at least one of:
determining pixels in the image belonging to the object and determining the 6DOF pose of the object by matching the determined pixels to a silhouette; and
labelling each pixel in the image with a feature vector, wherein at least one of the feature vectors is matched to a feature vector of a reference model of a class of the object to determine relative orientation and position of the at least one feature vector in the reference frame of the image.