US Patent 11276230 Inferring locations of 3D objects in a spatial environment

A method for inferring a location of an object includes extracting features from sensor data obtained from a number of sensors of an autonomous vehicle and encoding the features to a number of sensor space representations. The method also reshapes the number of sensor space representations to a feature space representation corresponding to a feature space of a spatial area. The method further identifies the object based on a mapping of the features to the feature space representation. The method still further projects a representation of the identified object to a location of the feature space and controls an action of the autonomous vehicle based on projecting the representation.