Region of interest generation at inference for perception tasks

A method of processing sensor data comprising:

• obtaining sensor data from one or more sensors, the sensor data corresponding to a scene in a vicinity of a vehicle;
• detecting objects in the scene using the sensor data;
• determining a first region of interest (ROI) based on a predicted trajectory of the vehicle through the scene;
• determining a second ROI for the vehicle based on a sensing range of the one or more sensors;
• merging the first ROI and the second ROI to generate a combined ROI;
• and
• performing one or more perception tasks using the combined ROI.

A non-transitory computer-readable medium storing instructions that, when executed, cause processing circuitry to:

• obtain sensor data from one or more sensors, the sensor data corresponding to a scene in a vicinity of a vehicle;
• detect objects in the scene using the sensor data;
• determine a first region of interest (ROI) based on a predicted trajectory of the vehicle through the scene;
• determine a second ROI for the vehicle based on a sensing range of the one or more sensors;
• merge the first ROI and the second ROI to generate a combined ROI;
• and
• perform one or more perception tasks using the combined ROI.