Systems and methods for object detection. Object detection may be used to control autonomous vehicle(s). For example, the methods comprise: obtaining, by a computing device, a LiDAR dataset generated by a LiDAR system of the autonomous vehicle; and using, by the computing device. The LiDAR dataset and image(s) are used to detect an object that is in proximity to the autonomous vehicle. The object is detected by: computing a distribution of object detections that each point of the LiDAR dataset is likely to be in; creating a plurality of segments of LiDAR data points using the distribution of object detections; and detecting the object in a point cloud defined by the LiDAR dataset based on the plurality of segments of LiDAR data points. The object detection may be used to facilitate at least one autonomous driving operation.