METHODS AND APPARATUS FOR DETERMINING POSE AND SIZE OF OBJECTS USING THREE-DIMENSIONAL MACHINE LEARNING

原文（中文）

Methods and apparatus for controlling a mobile robot to perform an action are provided. The method includes receiving, by at least one computing device associated with a mobile robot, first sensor data and second sensor data, providing as input to at least one machine learning model, the first sensor data, the second sensor data, and camera intrinsics associated with at least one camera configured to sense the first sensor data and/or the second sensor data, wherein the at least one machine learning model is trained to output polyhedron information representing a set of objects in an environment of the mobile robot, and controlling the mobile robot to perform an action based, at least in part, on the polyhedron information output from the at least one machine learning model.