Method and system for vehicle navigation using information from smart node

A node for capturing information about moving objects at an intersection, the node comprising:

• a plurality of first cameras that are positioned to capture first digital images of an intersection from different fields of view within a first vision range, each first camera capturing a unique field of view having a field of view apex and a depth of field in a corresponding intersection direction;
• a second camera positioned to capture second digital images in a field of view that is wider than that of each first camera;
• a processor and a computer-readable storage medium comprising programming instructions that are configured to, when executed, cause the processor to:
• detect in the first digital images and the second digital images a set of objects of interest of the intersection,
• determine motion of each detected object of interest in the set of objects of interest from consecutive images of the first digital images or the second digital images separated in time, and
• generate, for each object of interest of the set of objects of interest, augmented perception data that includes location data in the global coordinate system and the determined motion of each object of interest in the set of objects of interest;
• and
• a communication system configured to transmit, via a wireless communication system, the augmented perception data to a remote server system, wherein the augmented perception data is accessible by at least one vehicle to control navigation of the at least one vehicle through the intersection.