Pose estimation

A system, comprising a first computer that includes a processor;

• and a memory, the memory including instructions executable by the processor to:
• determine a two-dimensional image segment that includes an outline of an object in a top-down fisheye image;
• and
• determine a six degree of freedom (DoF) pose for the object 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 the three-dimensional bounding box for the object.