The embodiment of the application provides a kind of double hand-hinged object
pose estimation method and related equipment, belong to
computer vision technical field.The method includes: extracting the feature of double hand and object from input image and encoding as joint feature;From global feature, the left hand and right
hand position query representing double hand area are predicted and extracted;Interact with double
hand position query, generate double hand relative position query representing the relative position relationship of double hand, and combine it with the hand parameter query and object parameter query obtained by mapping into joint query;Using attention masking mechanism, make joint query and joint feature interact, match the most
relevant feature information for each query;Finally, the parameters of both hands, the parameters of the object and the
hinge angle correction amount are added to obtain the final
hinge angle, and the three-dimensional grid of the double hands and the hinged object is output.The application significantly improves the accuracy and rationality of
pose estimation by explicitly modeling the correlation between the relative position of the hands and the hinged state of the object.