SYSTEMS AND METHODS FOR ESTIMATING CUBOID HEADINGS BASED ON HEADING ESTIMATIONS GENERATED USING DIFFERENT CUBOID DEFINING TECHNIQUES

Disclosed herein are systems, methods, and computer program products for operating a robotic system. For example, the method includes: obtaining a first cuboid generated based on an image, a second cuboid generated based on a lidar dataset and/or a third cuboid generated by a heuristic algorithm using the lidar dataset; using a machine learning model to generate a heading for an object in proximity to the robotic system based on the first cuboid, second cuboid and/or third cuboid; generating a bounding box geometry and a bounding box location based on the second cuboid or third cuboid; and generating a fourth cuboid using the bounding box geometry, the bounding box location, and the heading generated using the machine learning model.