Abstract: 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.

Abstract: Provided are a wireless charging method and a wireless charging apparatus for a handheld mobile terminal. The method includes: detecting a state of an earphone cord of the handheld mobile terminal in real time (S101); when it is detected that the earphone cord is in the to-be-charged twisted state, connecting the earphone cord, as an electricity receiving coil, to a charging apparatus (S102); after the earphone cord is connected as the electricity receiving coil to the charging apparatus, placing the handheld mobile terminal on or near a charging plate provided with an electricity transmitting coil to enable electromagnetic coupling (S103); and obtaining electric energy, by the handheld mobile terminal, through the electromagnetic coupling between the electricity transmitting coil and the electricity receiving coil, to wirelessly charge a battery of the handheld mobile terminal (S104). Convenience can be brought to a user and the user experience can be improved.

Abstract: Provided are a wireless charging method and a wireless charging apparatus for a handheld mobile terminal. The method includes: detecting a state of an earphone cord of the handheld mobile terminal in real time (S101); when it is detected that the earphone cord is in the to-be-charged twisted state, connecting the earphone cord, as an electricity receiving coil, to a charging apparatus (S102); after the earphone cord is connected as the electricity receiving coil to the charging apparatus, placing the handheld mobile terminal on or near a charging plate provided with an electricity transmitting coil to enable electromagnetic coupling (S103); and obtaining electric energy, by the handheld mobile terminal, through the electromagnetic coupling between the electricity transmitting coil and the electricity receiving coil, to wirelessly charge a battery of the handheld mobile terminal (S104). Convenience can be brought to a user and improving the user experience can be improved.