US Patent 11715277 Perception system for autonomous vehicles

Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.