Multi-distance grid generation for computer vision

An apparatus for sensing, the apparatus comprising:

• a memory for storing sensor data;
• and
• processing circuitry in communication with the memory, wherein the processing circuitry is configured to:
• obtain the sensor data generated by one or more sensors of a vehicle;
• generate a representation of at least a portion of a real-world environment surrounding the vehicle based on the sensor data, wherein the representation of the real-world environment surrounding the vehicle comprises a grid having a plurality of cells and wherein a first cell of the plurality of cells corresponds to a first real-world distance between the real-world environment and the vehicle and a second real-world distance between the real-world environment and the vehicle, and wherein at least a second cell of the plurality of cells corresponds to a third real-world distance between the real-world environment and the vehicle and a fourth real-world distance between the real-world environment and the vehicle;
• use a plurality of object detectors for each of the plurality of cells, wherein each of the plurality of object detectors corresponds to a pre-defined real-world distance range from the vehicle;
• and
• control an operation of the vehicle using the representation and the plurality of object detectors.

Non-transitory computer-readable storage media having instructions encoded thereon, the instructions configured to cause processing circuitry to:

• obtain sensor data generated by one or more sensors of a vehicle;
• generate a representation of at least a portion of a real-world environment surrounding the vehicle based on the sensor data, wherein a first cell of the plurality of cells corresponds to a first real-world distance between the real-world environment and the vehicle and a second real-world distance between the real-world environment and the vehicle, and wherein at least a second cell of the plurality of cells corresponds to a third real-world distance between the real-world environment and the vehicle and a fourth real-world distance between the real-world environment and the vehicle;
• use a plurality of object detectors for each of the plurality of cells, wherein each of the plurality of object detectors corresponds to a pre-defined real-world distance range from the vehicle;
• and
• control an operation of the vehicle using the representation and the plurality of object detectors.