Patent ID: 11940774
Assignee: UBTECH ROBOTICS CORP LTD
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 4:
5. The method of claim 4, wherein the first sample two-dimensional image comprises one or more sample to-be-imitated objects;
the step of inputting the first sample two-dimensional image into the to-be-trained second neural network model comprises:
inputting 3 channels of the first sample two-dimensional image into the to-be-trained second neural network model; and

the step of obtaining the second sample two-dimensional coordinates of each key point of a sample to-be-imitated object in the sample two-dimensional image, and the second pairing relationship between the key points of the sample to-be-imitated object, comprises:
obtaining 19 channels of a first feature image and 38 channels of a second feature image outputted by the to-be-trained second neural network model, wherein the 19 channels of the first feature image comprises 18 channels of feature images and one channel of a negative sample image, each of the 18 channels of feature images comprises one key point, the one channel of the negative sample image does not comprise key points, and each feature image of the 38 channels of the second feature image records a pairing relationship between each pair of key points of the sample to-be-imitated object; and
obtaining the second sample two-dimensional coordinates by comparing the 18 channels of feature images and the one channel of the negative sample image, and obtaining the second pairing relationship based on the 38 channels of the second feature image.