Consider this system for building a self-driving car: \nmermaid\ngraph LR S1[Image / Radar / Lidar] --> CD[Car detection] S1 --> PD[Pedestrian detection] S1 --> LD[Lane detection] S1 --> TLD[Traffic light detection] S1 --> OD[Obstacle detection] S2[GPS, Maps] --> CD S2 --> PD S2 --> LD S2 --> TLD S2 --> OD CD --> TP1[Trajectory prediction] PD --> TP2[Trajectory prediction] TP1 --> MP[Motion planning] TP2 --> MP LD --> MP TLD --> MP OD --> MP MP --> O[Steer / Accelerate / Brake] \nThe component for pedestrian detection is usually built using: