Patent ID: 11961272
Assignee: WAYMO LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 7:
8. A system comprising one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
obtaining, for a particular location of a vehicle having one or more cameras and one or more detection sensors, surfel data comprising a plurality of surfels, wherein each surfel in the surfel data has a respective location and corresponds to a different respective detected surface in an environment;
obtaining image data captured by a camera of the one or more cameras; and
performing a detection process for a region of interest that is outside a field of view of a detection sensor of the one or more detection sensors, including:
determining that the image data for the region of interest does not match the surfel data for the region of interest, and
in response, detecting an object in the region of interest that is outside the field of view of the detection sensor.