MULTI-DISTANCE GRID GENERATION FOR COMPUTER VISION

A method for multi-distance computer vision includes obtaining sensor data generated by one or more sensors of a vehicle; generating a representation of at least a portion of a real-world environment surrounding the vehicle based on the sensor data, wherein the representation of the real-world environment surrounding the vehicle comprises a grid having a plurality of cells and wherein at least some of the plurality of cells simultaneously correspond to multiple real-world distances from the vehicle; using a plurality of object detectors for each of the plurality of cells, wherein each of the plurality of object detectors corresponds to a pre-defined real-world distance range from the vehicle; and controlling an operation of the vehicle using the representation and the plurality of object detectors.