Abstract: System and method for object detection. Images from cameras are provided to an inference engine to detect objects in real time, providing the images to an inference engine to detect the non-background and background pixels of the objects in the images, determining the position and size of the objects in the images based on contemporaneously gathered LiDAR data and the relationship of non-background to background pixels.

Abstract: System and method for determining, in real time, a location and probability of the state of a traffic light in order to navigate safely through an intersection. The system can receive both image data in real-time and previously-formulated map data. The map data can be used to determine the historical coordinates of a traffic light, and those coordinates can be transformed to the camera image frame of reference. The image at the transformed historical coordinates can be fed to a first machine learning detection model that can provide bounding boxes where traffic lights could be. The traffic light image data can be fed to a second machine learning model that can infer the probability of traffic light states.