The present disclosure generally relates to methods and systems for identifying objects from a 3D point cloud and a 2D image. The method may include determining a first set of 3D proposals using Euclidean clustering on the 3D point cloud and determining a second set of 3D proposals from the 3D point cloud based on a 3D convolutional neural network. The method may include pooling the first and second sets of 3D proposals to determine a set of 3D candidates. The method may include projecting the first set of 3D proposals onto the 2D image and determining a first set of 2D proposals using 2D convolutional neural network. The method may include pooling the projected first set of 3D proposals and the first set of 2D proposals to determine a set of 2D candidates then pooling the set of 3D candidates and the set of 2D candidates.