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

Claim 10:
11. 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 represented by a respective surfel is a particular object type;
performing, for each surfel corresponding to the one or more locations of the obtained sensor data obtained by the first vehicle, a label-specific detection process for the surfel comprises:
determining, based on the sensor data, that the sensor data indicates a first object type for a first object detected at a particular location;
determining, based on the surfel map, that a first semantic label for a first surfel corresponding to the particular location indicates a second object type different from the first object type;
determining that a second semantic label for a second surfel corresponding to another location proximate the particular location indicates a probability that a second object represented by the second surfel is of the first object type; and
determining, based at least in part on a third semantic label identifying a high probability that the second object represented by the second surfel is dynamic, that the first object is of the first object type.