The invention relates to a method for determining a pose of an object in the surroundings thereof, the object and the surroundings thereof being detected as a current image (xi) by means of an optical detection device and the pose of the object being determined by means of an optical image analysis, and the pose of the object being ascertained by means of a neural network (1) as an output of the neural network (1), the neural network (1) being taught by means of multi-task learning (LMTL) by the use of pose regression (Lpose) and descriptor learning (Ld), which descriptor learning is determined by using a triplet-wise loss function (Ltriplet) and a pair-wise loss function (Lpair), the pose regression (Lpose) being determined by means of quaternions, the triplet-wise loss function (Ltriplet) being determined independently of a dynamic margin term (m), and the pair-wise loss function (Lpair) being determined only as an anchoring function.
METHOD FOR DETERMINING A POSE OF AN OBJECT IN THE SURROUNDINGS OF THE OBJECT BY MEANS OF MULTI-TASK LEARNING, AND CONTROL MEANS