Abstract: A robot can be moved in a structure that includes a plurality of downward-facing cameras, and, as the robot moves, upward images can be captured with an upward-facing camera mounted to the robot. Downward images can be captured with the respective downward-facing cameras. Upward-facing camera poses can be determined at respective times based on the upward images. Further, respective poses of the downward-facing cameras can be determined based on (a) describing motion of the robot from the downward images, and (b) the upward-facing camera poses determined from the upward images.

Abstract: A two-dimensional image segment that includes an outline of an object can be determined in a top-down fisheye image. A six degree of freedom (DoF) pose for the object can be determined based on determining a three-dimensional bounding box determined by one or more of (1) an axis of the two-dimensional image segment in a ground plane included in the top-down fisheye image and a three-dimensional model of the object and (2) inputting the two-dimensional image segment to a deep neural network trained to determine a three-dimensional bounding box for the object.