US Patent 11348280 Method and computer readable medium for pose estimation

A method for pose estimation includes receiving an image containing an object, a first pose of the object in the image, and 3D boundary features of a model corresponding to the object; computing a first pose confidence of the first pose based on the image, the 3D boundary features, and the first pose; perturbing the first pose to obtain a second pose; computing a second pose confidence of the second pose based on the image, the 3D boundary features, and the second pose; determining if the second pose confidence is greater than the first pose confidence, and; and outputting the second pose and the second pose confidence if the second pose confidence is greater than the first pose confidence.