A method includes fusing multi-modal sensor data from a plurality of sensors having different modalities. At least one region of interest is detected in the multi-modal sensor data. One or more patches of interest are detected in the multi-modal sensor data based on detecting the at least one region of interest. A model that uses a deep convolutional neural network is applied to the one or more patches of interest. Post-processing of a result of applying the model is performed to produce a post-processing result for the one or more patches of interest. A perception indication of the post-processing result is output.