Example embodiments allow for fast, efficient determination of bounding box vertices or other pose information for objects based on images of a scene that may contain the objects. An artificial neural network or other machine learning algorithm is used to generate, from an input image, a heat map and a number of pairs of displacement maps. The location of a peak within the heat map is then used to extract, from the displacement maps, the two-dimensional displacement, from the location of the peak within the image, of vertices of a bounding box that contains the object. This bounding box can then be used to determine the pose of the object within the scene. The artificial neural network can be configured to generate intermediate segmentation maps, coordinate maps, or other information about the shape of the object so as to improve the estimated bounding box.