Systems and methods for detecting traffic scenarios include an image capturing device which captures two or more images of an area of a traffic environment with each image having a different view of vehicles and a road in the traffic environment. A hierarchical feature extractor concurrently extracts features at multiple neural network layers from each of the images, with the features including geometric features and semantic features, and for estimating correspondences between semantic features for each of the images and refining the estimated correspondences with correspondences between the geometric features of each of the images to generate refined correspondence estimates. A traffic localization module uses the refined correspondence estimates to determine locations of vehicles in the environment in three dimensions to automatically determine a traffic scenario according to the locations of vehicles. A notification device generates a notification of the traffic scenario.