Systems and methods of detecting a traffic object outside of a vehicle and controlling the vehicle. The systems and methods receive perception data from a sensor system included in the vehicle, determine a focused Region Of Interest (ROI) in the perception data, scale the perception data of the at least one focused ROI, process the scaled perception data of the focused ROI using a neural network (NN)-based traffic object detection algorithm to provide traffic object detection data, and control at least one vehicle feature based, in part, on the traffic object detection data.