{
  "$type": "site.standard.document",
  "description": "A computer-implemented method of estimating a 6D pose and shape of one or more objects from a 2D image, comprises the steps of: detecting, within the 2D image, one or more 2D regions of interest, each 2D region of interest containing a corresponding object among the one of more objects; cropping…",
  "path": "/patents/1339576",
  "publishedAt": "2023-03-16T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G06T7/73",
    "TOYOTA MOTOR EUROPE"
  ],
  "textContent": "A computer-implemented method of estimating a 6D pose and shape of one or more objects from a 2D image, comprises the steps of: detecting, within the 2D image, one or more 2D regions of interest, each 2D region of interest containing a corresponding object among the one of more objects; cropping out a corresponding pixel value array, coordinate tensor , and feature map for each 2D region of interest; concatenating the corresponding pixel value array, coordinate tensor, and feature map for each 2D region of interest; and inferring, for each 2D region of interest, a 4D quaternion describing a rotation of the corresponding object in the 3D rotation group, a 2D centroid, which is a projection of a 3D translation of the corresponding object onto a plane of the 2D image given a camera matrix associated to the 2D, image, a distance from a viewpoint of the 2D image to the corresponding object a size and a class-specific latent shape vector of the corresponding object.",
  "title": "6D POSE AND SHAPE ESTIMATION METHOD"
}