Waymo LLC

Ting Liu

Dragomir Dimitrov Anguelov

Yang Song

Congcong Li

Junhua Mao

Yin Zhou

Xinwei Shi

Ruizhongtai Qi

Andre Liang Cornman

Alexander Gorban

Jingxiao Zheng

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.

Multi-modal 3-D pose estimation

Growing community of inventors

Los Angeles, CA, United States of America

Ting Liu