Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for annotation of 3D models with signs of use that are visible in 2D images. In one aspect, methods are performed by data processing apparatus. The methods can include projecting signs of use in a relatively larger field of view image of an instance of an object onto a 3D model of the object based on a pose of the instance in the relatively larger field of view image, and estimating a relative pose of the instance of the object in a relatively smaller field of view image based on matches between the signs of use in the relatively larger field of view image and the same signs of use in the relatively smaller field of view image.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for image processing that involves annotating landmarks on real two-dimensional images. In one aspect, the methods include generating a training set of images of an object for landmark detection. This includes receiving a collection of real images of an object, estimating a pose of the object in each real image in a proper subset of the collection of real images, creating a collection of surrogate images of the object for the training set using the estimated poses and a three-dimensional model of the object.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for annotation of 3D models with signs of use that are visible in 2D images. In one aspect, methods are performed by data processing apparatus. The methods can include projecting signs of use in a relatively larger field of view image of an instance of an object onto a 3D model of the object based on a pose of the instance in the relatively larger field of view image, and estimating a relative pose of the instance of the object in a relatively smaller field of view image based on matches between the signs of use in the relatively larger field of view image and the same signs of use in the relatively smaller field of view image.

Abstract: A method of image processing can include receiving an image of an instance of an object and a three-dimensional model of the object, detecting a first plurality of landmarks of the instance of the object in the two-dimensional image, estimating a pose of the instance of the object in the received image relative to an imaging device that acquired the image, wherein the relative pose in the received image is estimated from the first plurality of the detected landmarks, using the estimated relative pose, projecting landmarks from the three-dimensional model of the object into a dimensional space of the received image of the instance of the object, comparing, in the dimensional space, characteristics of corresponding of the projected landmarks and the first plurality of the detected landmarks, and determining whether a threshold level of positional correspondence exists between positions of corresponding of the projected landmarks and the first plurality of the detected landmarks.

Abstract: A method for characterizing correctness of image processing includes receiving images of an instance of an object, wherein the images were acquired at different relative poses, identifying positions of corresponding landmarks on the object in each of the received images, receiving information characterizing a difference in position or a difference in orientation of at least one of the instance of the object and one or more imaging devices when the images were acquired, transferring the positions of landmarks identified in a first of the images based on the difference in position or the difference in orientation, and comparing the positions of the transferred landmarks with the positions of the corresponding of the landmarks identified in a second of the received images, and characterizing a correctness of the identification of the positions of the landmarks in at least one of the received images.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for annotation of 3D models with signs of use that are visible in 2D images. In one aspect, methods are performed by data processing apparatus. The methods can include projecting signs of use in a relatively larger field of view image of an instance of an object onto a 3D model of the object based on a pose of the instance in the relatively larger field of view image, and estimating a relative pose of the instance of the object in a relatively smaller field of view image based on matches between the signs of use in the relatively larger field of view image and the same signs of use in the relatively smaller field of view image.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for annotation of 3D models with signs of use that are visible in 2D images. In one aspect, methods are performed by data processing apparatus. The methods can include projecting signs of use in a relatively larger field of view image of an instance of an object onto a 3D model of the object based on a pose of the instance in the relatively larger field of view image, and estimating a relative pose of the instance of the object in a relatively smaller field of view image based on matches between the signs of use in the relatively larger field of view image and the same signs of use in the relatively smaller field of view image.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for image processing that involves annotating landmarks on real two-dimensional images. In one aspect, the methods include generating a training set of images of an object for landmark detection. This includes receiving a collection of real images of an object, estimating a pose of the object in each real image in a proper subset of the collection of real images, creating a collection of surrogate images of the object for the training set using the estimated poses and a three-dimensional model of the object.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for processing images that involves annotation of landmarks on two-dimensional images. In one aspect methods are performed by data processing apparatus for training a device for estimating the relative pose of an imaging device and an object in a two-dimensional image. The methods include identifying a 3D model of the object, identifying landmarks on the 3D model of the object, projecting the 3D model into a collection of two-dimensional images with knowledge of the location of the landmarks from the 3D model on the projection, and training a landmark-detection machine learning model to identify the landmarks in the collection of two-dimensional images. The landmark-detection machine learning model is part of a device for estimating the relative pose of an imaging device.