Object corner detection

A method comprising:

• receiving sensor data associated with a vehicle traversing an environment;
• determining, based at least in part on the sensor data and a plurality of corner points determined in the environment, a predicted corner point;
• determining, based at least in part on the sensor data and independently from determining the predicted corner point, a detection box representing an object in the environment;
• modifying, based at least in part on the predicted corner point, the detection box;
• and
• controlling the vehicle based at least in part on the detection box.

One or more non-transitory computer-readable media storing instructions that, when executed by one or more processors, perform operations comprising:

• receiving environmental data associated with a vehicle traversing an environment;
• determining, based at least in part on the environmental data and a plurality of corner points determined in the environment, a predicted corner point;
• determining, based at least in part on the environmental data and independently from determining the predicted corner point, a detection box representing an object in the environment;
• refining, based at least in part on the predicted corner point, the detection box;
• and
• determining a vehicle control based at least in part on the detection box.