A device for processing image data is disclosed. The device can obtain a radar point cloud and one or more frames of camera data. The device can determine depth estimates of one or more pixels of the one or more frames of camera data. The device can generate a pseudo lidar point cloud using the depth estimates of the one or more pixels of the one or more frames of camera data, wherein the pseudo lidar point cloud comprises a three-dimensional representation of at least one frame of the one or more frames of camera data. The device can determine one or more object bounding boxes based on the radar point cloud and the pseudo lidar point cloud.