Object recognition neural network for amodal center prediction

A system comprising one or more computers and one or more storage devices storing instructions that when executed by the one or more computers cause the one or more computers to perform operations comprising:

• receiving an image of an object captured by a camera;
• and
• processing the image of the object using an object recognition neural network that is configured to generate an object recognition output comprising:
• data defining a predicted two-dimensional amodal center of the object, wherein the predicted two-dimensional amodal center of the object is a projection of a predicted three-dimensional center of the object under a camera pose of the camera that captured the image.

One or more non-transitory computer-readable storage media storing instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:

• receiving an image of an object captured by a camera;
• and
• processing the image of the object using an object recognition neural network that is configured to generate an object recognition output comprising:
• data defining a predicted two-dimensional amodal center of the object, wherein the predicted two-dimensional amodal center of the object is a projection of a predicted three-dimensional center of the object under a camera pose of the camera that captured the image.