Sensor fusion by combining multiple parametric projection surfaces

A device comprising:

• one or more memories configured to store sensor data obtained from a plurality of sensors, wherein the sensor data includes representations of objects detected by the sensors, the objects comprising one or more first detected objects that are at distances less than a designated distance and one or more second detected objects that are at distances greater than the designated distance;
• one or more processors configured to:
• generate a Bird's Eye View (BEV) feature tensor that represents the one or more first detected objects projected onto a BEV surface;
• generate a Generalized Perspective View (GPV) feature tensor that represents at least the one or more second detected objects projected onto a GPV surface, wherein a BEV grid of the BEV surface and a GPV grid of the GPV surface are defined such that sector lines of the BEV grid and column lines of the GPV grid are aligned;
• concatenate the BEV feature tensor and the GPV feature tensor along the sector lines of the BEV grid and the column lines of the GPV grid to generate a concatenated tensor;
• and
• perform a perception task based on the concatenated tensor.

One or more non-transitory computer-readable storage media having instructions stored thereon that, when executed by one or more processors, cause the one or more processors to:

• obtain sensor data from a plurality of sensors, wherein the sensor data includes representations of objects detected by the sensors, the objects comprising one or more first detected objects that are at distances less than a designated distance and one or more second detected objects that are at distances greater than the designated distance;
• generate a Bird's Eye View (BEV) feature tensor that represents the one or more first detected objects projected onto a BEV surface;
• generate a Generalized Perspective View (GPV) feature tensor that represents at least the one or more second detected objects projected onto a GPV surface, wherein a BEV grid of the BEV surface and a GPV grid of the GPV surface are defined such that sector lines of the BEV grid and column lines of the GPV grid are aligned;
• concatenate the BEV feature tensor and the GPV feature tensor along the sector lines of the BEV grid and the column lines of the GPV grid to generate a concatenated tensor;
• and
• perform a perception task based on the concatenated tensor.