Patent ID: 11915490
Assignee: WAYMO LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 12:
13. The system of claim 9, wherein:
the one or more semantic labels for the one or more surfels comprise a semantic label identifying a probability that an object in the environment represented by a respective surfel is permanent; and
performing, for each surfel corresponding to the one or more locations of the sensor data obtained by the first vehicle, a label-specific detection process for the surfel comprises:
determining, based on comparing the one or more surfels corresponding to the one or more locations of the sensor data obtained by the first vehicle to the sensor data obtained by the first vehicle, that a representation of the object in the environment represented by the sensor data is different than a representation of the object in the surfel map; and
determining that the probability identified by the semantic label that the object represented by the respective surfel is permanent is above a threshold probability; and

updating or maintaining the planned path of travel for the first vehicle based on the outcome of the label-specific detection process comprises maintaining the planned path of travel for the first vehicle in real time in response to determining that the probability identified by the semantic label is above the threshold probability.