Abstract: Certain aspects of the present disclosure provide techniques for performing object detection including obtaining sensor data from one or more sensors; determining first grid parameters for a first grid based on information about a location where an object of interest is likely to be located in a scene, the first grid parameters associated with a first area of the scene including the location; generating a first scene representation of the first area based on the first grid parameters for the first grid and the sensor data; and obtaining detection information from the first scene representation.

Abstract: This disclosure provides systems, methods, and devices for vehicle driving assistance systems that support image processing. In a first aspect, a method is provided that includes a receiving sensor data from one or more sensors. The sensor data may be determined for an area surrounding a vehicle, and features may be determined based on the sensor data and projected into a top view representation of the area surrounding the vehicle. The top view representation may be defined by an inner contour and an outer contour. The inner contour may be determined based on an exterior contour of the vehicle, sensing capabilities of one or more sensors, or a combination thereof. Vehicle instructions may then be determined based on the features within the top view representation. Other aspects and features are also claimed and described.