Patent ID: 11971953
Assignee: INAIT SA
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 11:
12. A method performed by data processing apparatus, the method comprising iteratively:
a) estimating, using a machine learning pose estimation model, a pose of an object in a proper subset of a collection of real images of the object,
b) generating, using the estimated poses and a three-dimensional model of the object, a collection of surrogate images of the object, wherein the object in the surrogate images of the object is perturbed to mimic a real-world variation in the object, and
c) training or retraining the machine learning pose estimation model using the collection of surrogate images of the object,, wherein, for each iteration other than a first of the iterations, a number of the real images in the proper subset increases relative to a number of the real images in the proper subset in a previous iteration.