Abstract: Methods and apparatus are provided for 3D object bounding for 2D image data for use in an assisted driving equipped vehicle. In various embodiments, an apparatus includes a camera operative to capture a two dimensional image of a field of view, a lidar operative to generate a point cloud of the field of view, a processor operative to generate a three dimensional representation of the field of view in response to the point cloud, to detect an object within the three dimensional representation, to generate a three dimensional bounding box in response to the object, to project the three dimensional bounding box onto the two dimensional image to generate a labeled two dimensional image, and a vehicle controller to controlling a vehicle in response to the labeled two dimensional image.