Abstract: A system may be used to determined object characteristics and/or generate bounding boxes for objects in a vehicle scene by enriching later-in-time feature maps using earlier-in-time feature maps. The system may generate a feature map from a received. Using an earlier-in-time feature map, the system may enrich semantic data of the generated feature map to form an enriched feature map. The system may use the enriched feature map to generate one or more object characteristics of an object in the scene.