Reverse rendering of an image based on high definition map data

A computer-implemented method comprising:

• receiving, by a vehicle, sensor data comprising information about a route of the vehicle;
• performing localization based on the sensor data to determine a location of the vehicle;
• accessing map data corresponding to a region surrounding the determined location of the vehicle;
• identifying a reference point in the map data, the reference point being based on the location of the vehicle;
• for each respective angle of a plurality of angles in the region originating at the reference point and being with respect to a ground plane and a corresponding line passing through the reference point, selecting a corresponding point on a first object from the map data, the corresponding point being located from the reference point along the corresponding line, wherein at least some of the angles are associated with a second object located between the reference point and the first object and wherein the second object at least partially obstructs the first object as viewed from the reference point at one or more of the respective viewing angles;
• generating an image displaying the selected points from the reference point, wherein the generated image shows the first object and excludes the second object based on the second object at least partially obstructing the first object as viewed from the reference point;
• and
• transmitting the generated image for display on a client device.

A computer system comprising:

• one or more processors;
• and
• one or more non-transitory computer readable storage media storing instructions encoded thereon that, when executed by the one or more processors a, cause the system to perform steps comprising:
• receiving by a vehicle, sensor data comprising information about a route of the vehicle;
• performing localization based on the sensor data to determine a location of the vehicle;
• accessing map data corresponding to a region surrounding the determined location of the vehicle;
• identifying a reference point in the map data, the reference point being based on the location of the vehicle;
• for each respective angle of a plurality of angles in the region originating at the reference point and being with respect to a ground plane and a corresponding line passing through the reference point, selecting a corresponding point on a first object from the map data, the corresponding point being located from the reference point along the corresponding line, wherein at least some of the angles are associated with a second object located between the reference point and the first object and wherein the second object at least partially obstructs the first object as viewed from the reference point at one or more of the respective viewing angles;
• generating an image displaying the selected points from the reference point, wherein the generated image shows the first object and excludes the second object based on the second object at least partially obstructing the first object as viewed from the reference point;
• and
• transmitting the generated image for display on a client device.