Methods and Systems for Three Dimensional Object Detection and Localization

Example embodiments relate to techniques for three dimensional (3D) object detection and localization. A computing system may cause a radar unit to transmit radar signals and receive radar reflections relative to an environment of a vehicle. Based on the radar reflections, the computing system may determine a heading and a range for a nearby object. The computing system may also receive an image depicting a portion of the environment that includes the object from a vehicle camera and remove peripheral areas of the image to generate an image patch that focuses upon the object based on the heading and the range for the object. The image patch and the heading and the range for the object can be provided as inputs into a neural network that provides output parameters corresponding to the object, which can be used to control the vehicle.