---
publication_id: "OT-2026-000001401"
title: "System and method for training and using a bipedal spatial perception model"
published_at: "2026-09-15T19:05:36.852495Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001401"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1697"
  - "b25j9/1697"
  - "b25j9/16"
  - "b25j9/1664"
  - "b25j9/1664"
  - "g06f3/0346"
---

# System and method for training and using a bipedal spatial perception model

## Abstract

A humanoid robot system comprises vision sensors for capturing image data, a computing architecture with processing hardware and memory, and a bipedal spatial perception model. The model includes a feature extractor that extracts hierarchical feature maps from input images, a robot data module that detects robot parts, and a robot vector data module that calculates three-dimensional spatial position and orientation data for each detected robot part. The feature extractor uses a feature pyramid network generating multi-scale feature maps through bottom-up and top-down pathways with lateral connections. The robot vector data module predicts 2D-to-3D point correspondences and solves perspective-n-point problems to obtain final position and orientation vectors, enabling real-time robot self-awareness and closed-loop visual servoing for precise object interaction.