TRAINING BOUNDING BOX SELECTION

Techniques to train a model with machine learning and use the trained model to select a bounding box that represents an object are described. For example, a system may implement various techniques to generate multiple bounding boxes for an object in an environment. Each bounding box may be slightly different based on the technique and data used. To select a bounding box that most closely represents an object (or is best used for tracking the object), a model may be trained. The model may be trained by processing sensor data that has been annotated with bounding boxes that represent ground truth bounding boxes. The model may be implemented to select a most appropriate bounding box for a situation (e.g., a given velocity, acceleration, distance, location, etc.). The selected bounding box may be used to track an object, generate a trajectory, or otherwise control a vehicle.