Optimizations for Dynamic Object Instance Detection, Segmentation, and Structure Mapping

In one embodiment, a system may access an image and generate a feature map for the image using a neural network. The system may identify regions of interest in the feature map. Regional feature maps may be generated for the regions of interest, respectively. Each of the regional feature maps has a first, a second, and a third dimension. The system may generate a first combined regional feature map by combining the regional feature maps. The combined regional feature map has a first, a second, and a third dimension. The system may generate a second combined regional feature map by processing the first combined regional feature map using one or more convolutional layers. The system may generate, for each of the regions of interest, information associated with an object instance based on a portion of the second combined regional feature map associated with that region of interest.