ENRICHING FEATURE MAPS USING MULTIPLE PLURALITIES OF WINDOWS TO GENERATE BOUNDING BOXES

A perception system may be used to generate bounding boxes for objects in a vehicle scene. The perception system may receive images and feature maps corresponding to the received images. The perception system may generate multiple pluralities of windows and use the multiple pluralities of windows to enrich semantic data of the feature maps. The perception system may use the enriched semantic to generate one or more bounding boxes for objects in the vehicle scene.