SYSTEMS AND METHODS OF VISUAL SONAR FOR ADAPTED VEHICLE GEOMETRY

Embodiments of systems and methods for adapted vehicle geometry include a vehicle and one or more processors. The vehicle includes a camera operable to generate an image of an environment surrounding the vehicle. The environment includes a parking space and an object removably attached to the vehicle. The one or more processors operable to identify the object as attached to the vehicle, generate, using a pre-trained depth algorithm, a depth map based on the image, generate a boundary of the parking space and a boundary of the vehicle combined with the object based on the depth map, determine whether a distance between the boundary of the parking space and the boundary of the vehicle combined with the object is less than a threshold value, and output an alert in response to determining that the distance is less than the threshold value.