Systems and methods for image processing are described. The systems and methods include receiving a low-resolution image; generating a feature map based on the low-resolution image using an encoder of a student network, wherein the encoder of the student network is trained based on comparing a predicted feature map from the encoder of the student network and a fused feature map from a teacher network, and wherein the fused feature map represents a combination of first feature map from a high-resolution encoder of the teacher network and a second feature map from a low-resolution encoder of the teacher network; and decoding the feature map to obtain prediction information for the low-resolution image.