Abstract: The present invention is directed to a Spatiotemporal scene-graph embedding methodology that models scene-graphs and resolves safety-focused tasks for autonomous vehicles. The present invention features a computing system comprising instructions for accepting the one or more images, extracting one or more objects from each image, computing an inverse-perspective mapping transformation of the image to generate a bird's-eye view (BEV) representation of each image, calculating relations between each object for each image, and generating a scene-graph for each image based on the aforementioned calculations. The system may further comprise instructions for calculating a confidence value for whether or not a collision will occur through the generation of a spatio-temporal graph embedding based on a spatial graph embedding and a temporal model.