CPC G06V 20/58 (2022.01) [B60W 40/04 (2013.01); G06N 20/00 (2019.01); G06T 7/337 (2017.01); G06T 15/205 (2013.01); G06V 10/757 (2022.01)] | 21 Claims |
1. A non-transitory computer-readable storage device including program instructions executable by one or more processors that, when executed, cause the one or more processors to perform operations, the operations comprising:
obtaining a two-dimensional image;
obtaining a two-dimensional image annotation that indicates presence of an object in the two-dimensional image;
obtaining three-dimensional sensor information;
generating a top-down representation of the three-dimensional sensor information;
obtaining a top-down annotation that indicates presence of the object in the top-down representation;
determining a bottom surface of a three-dimensional cuboid based on map information;
determining a position, a length, a width, and a yaw rotation of the three-dimensional cuboid based on the top-down annotation; and
determining a height of the three-dimensional cuboid based on the two-dimensional image annotation, and the position, the length, the width, and the yaw rotation of the three-dimensional cuboid.
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