Patent Document ID: 8994790
Application ID: 12712901
Patent Status: 1

Claim One:
1. A system for determining three-dimensional representations of at least one object from an input depth-based image, the system comprising: a processing circuit including a parallel graphical processing unit configured and arranged to determine a plurality of proposed three-dimensional object orientations for the at least one object based on an initial state of the at least one object that represents a current pose for the at least one object in the input depth-based image; render a plurality of depth-based images in respective orientations, each orientation corresponding to one of the plurality of proposed three-dimensional object orientations for the at least one object, by rasterizing each proposed three-dimensional object orientation to provide a set of two-dimensional image data, assessing occlusion of each set of two-dimensional image data to provide a set of two-dimensional pixels, and rendering, for pixels of the set of two-dimensional pixels, depth values corresponding to the three-dimensional object orientation; assess orientations from the plurality of orientations as a function of the rendered depth-base images and input depth-based image, by comparing each of the rendered depth-based images to the input depth-based image; score first and second ones of the proposed three-dimensional object orientations as a function of the comparison of the rendered depth values to the input depth-based image; and select an orientation from the plurality of proposed three-dimensional object orientations as a function of the assessment of orientations from the plurality of proposed orientations and the scoring.