US Patent 11373332 Point-based object localization from images

Techniques and systems are provided for determining features of one or more objects in one or more images. For example, an image of an object and a three-dimensional model associated with the object can be obtained. From the image, a sample point on the object can be determined. A depth and an angle of the sample point of the object can be determined. A pose and a shape of the three-dimensional model associated with the object can be determined based on the depth and the angle.