A method for generating a representation of an object detected by a perception system of a vehicle, the method comprising: receiving, by one or more processors, a set of data points from the perception system, the data points of the set of data points corresponding to the object detected during a sweep of a laser of a laser sensor; retrieving, by the one or more processors, map information identifying shapes and locations of lanes as well as locations of center points for the lanes; selecting, by the one or more processors, a representative point of the center points based on the set of data points; determining, by the one or more processors, a first position based on the location of the representative point; determining, by the one or more processors, a second position based on the set of data points; using, by the one or more processors, the first position and the second position in order to determine a third position for the representation of the object based on a distance between the first position and the second position, wherein: the first position and the second position are used such that when the distance is a first distance, the first position has a first contribution to the third position, and when the distance is a second distance greater than the first distance, the second position has a second contribution to the third position that is greater than the first contribution, and wherein the third position is equal to the first position or the second position, or the third position is at a position between the first and second positions; generating, by the one or more processors, the representation of the object using the third position; and displaying, by the one or more processors, the representation of the object on a display of the vehicle. receiving, by one or more processors, a set of data points from the perception system, the data points of the set of data points corresponding to the object detected during a sweep of a laser of a laser sensor; retrieving, by the one or more processors, map information identifying shapes and locations of lanes as well as locations of center points for the lanes; selecting, by the one or more processors, a representative point of the center points based on the set of data points; determining, by the one or more processors, a first position based on the location of the representative point; determining, by the one or more processors, a second position based on the set of data points; using, by the one or more processors, the first position and the second position in order to determine a third position for the representation of the object based on a distance between the first position and the second position, wherein: the first position and the second position are used such that when the distance is a first distance, the first position has a first contribution to the third position, and when the distance is a second distance greater than the first distance, the second position has a second contribution to the third position that is greater than the first contribution, and wherein the third position is equal to the first position or the second position, or the third position is at a position between the first and second positions; generating, by the one or more processors, the representation of the object using the third position; and displaying, by the one or more processors, the representation of the object on a display of the vehicle.