Systems and methods for multi-resolution fusion of pseudo-lidar features

A method of detecting an object, the method comprising:

• generating a bird's eye view of pseudo-LiDAR data by:
• receiving image data from one or more image sensors;
• generating a point cloud from the image data, wherein the point cloud comprises pseudo-LiDAR data;
• generating, from the point cloud, a first bird's eye view map having a first resolution;
• generating, from the point cloud, a second bird's eye view map having a second resolution;
• and
• generating a combined bird's eye view map by combining features of the first bird's eye view map with features from the second bird's eye view map;
• and
• detecting, using an object detection algorithm, one or more objects from the combined bird's eye view map.

A vehicle comprising:

• one or more image sensors that produce image data;
• one or more processors;
• one or memory modules comprising a non-transitory computer readable memory storing computer readable instructions that, when executed by the one or more processors, cause the one or more processors to:
• receive the image data from the one or more image sensors;
• generate a point cloud from the image data, wherein the point cloud comprises pseudo-LiDAR data;
• generate, from the point cloud, a first bird's eye view map having a first resolution;
• generate, from the point cloud, a second bird's eye view map having a second resolution;
• generate a combined bird's eye view map by combining features of the first bird's eye view map with features from the second bird's eye view map;
• and
• detect, using an object detection algorithm, one or more objects from the combined bird's eye view map.