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

Claim 17:
18. The one or more non-transitory computer storage media of claim 15, 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 transparent;
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 the sensor data, that the sensor data indicates a first object type for an 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 the first surfel corresponding to the particular location indicates a probability above a threshold probability that the object represented by the first surfel is transparent; and
in response to determining that the probability identified by the second semantic label is above the threshold probability, determining that the first object is of the second object type; 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 response to determining that the first object is of the second object type.