Patent ID: 11593957

Abstract:
A network for category-level 6D pose and size estimation, including a 3D-OCR module for 3D Orientation-Consistent Representation, a GeoReS module for Geometry-constrained Reflection Symmetry, and a MPDE module for Mirror-Paired Dimensional Estimation; wherein the 3D-OCR module and the GeoReS module are incorporated in parallel; the 3D-OCR module receives a canonical template shape including canonical category-specific keypoints; the GeoReS module receives an original input depth observation including pre-processed predicted category labels and potential masks of the target instances; the MPDE module receives the output from the GeoReS module as well as the original input depth observation; and the network outputs the estimation results based on the output of the MPDE module, the output of the 3D-OCR module, as well as the canonical template shape. Also provided are corresponding systems and methods.