Methods and systems for occlusion detection include detecting (340) a set of foreground object masks in an image, including a mask of a visible portion of a foreground object and a mask of the foreground object that includes at least one occluded portion, using a machine learning model. A set of background object masks is detected (320) in the image, including a mask of a visible portion of a background object and a mask of the background object that includes at least one occluded portion, using the machine learning model. The set of foreground object masks and the set of background object masks are merged (206) using semantic merging. A computer vision task is performed (406) that accounts for the at least one occluded portion of at least one object of the merged set.
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