Navigating a vehicle based on data processing using synthetically generated images

A system comprising:

• a processor;
• and
• a memory operably coupled to the processor, the memory storing instructions that when executed by the processor cause the system to perform operations comprising:
• receiving a sensor detected image not depicting a feature in a selected scenario associated with an environment for navigating a vehicle;
• receiving a user generated representation of the feature that is not depicted in the sensor detected image;
• generating a synthetic image reflecting the selected scenario including the feature that a discrimination network cannot distinguish from the sensor detected image;
• and
• controlling operation of the vehicle in the selected scenario including the feature based on a perception model trained based on the synthetic image.

A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform operations comprising:

• receiving a sensor detected image not depicting a feature in a selected scenario associated with an environment for navigating a vehicle;
• receiving a user generated representation of the feature that is not depicted in the sensor detected image;
• generating a synthetic image reflecting the selected scenario including the feature that a discrimination network cannot distinguish from the sensor detected image;
• and
• controlling operation of the vehicle in the selected scenario including the feature based on a perception model trained based on the synthetic image.