An electronic device, method, and computer readable medium for 3D association of detected objects are provided. The electronic device includes a memory and at least one processor coupled to the memory. The at least one processor configured to convolve an input to a neural network with a basis kernel to generate a convolution result, scale the convolution result by a scalar to create a scaled convolution result, and combine the scaled convolution result with one or more of a plurality of scaled convolution results to generate an output feature map.