A perception system is adapted to receive visual data from a camera and includes a controller having a processor and tangible, non-transitory memory on which instructions are recorded. A subsampling module, an object detection module and an attention module are each selectively executable by the controller. The controller is configured to sample an input image from the visual data to generate a rescaled whole image frame, via the subsampling module. The controller is configured to extract feature data from the rescaled whole image frame, via the object detection module. A region of interest in the rescaled whole image frame is identified, based on an output of the attention module. The controller is configured to generate a first image based on the rescaled whole image frame and a second image based on the region of interest, the second image having a higher resolution than the first image.