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

Claim 0:
1. A computer-implemented method for object detection and pose estimation within an input image, the method comprising:
receiving the input image;
inputting the received input image into 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;
generating, using the ID mask decoder head, an ID mask identifying one or more objects and background in the received input image;
generating, using the first correspondence color channel decoder head, a first correspondence color channel of a 2D-to-3D-correspondence map for the one or more objects within the received input image;
generating, using the second correspondence color channel decoder head, a second correspondence color channel of the 2D-to-3D-correspondence map;
generating the 2D-to-3D-correspondence map using the generated first correspondence color channel and the generated second correspondence color channel; and
determining, for at least one 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.