Identifying occluded areas of environments for autonomous systems and applications

A method comprising:

• determining that a wheel occludes a first area of an environment from one or more sensors of a machine when the wheel is in a first pose to navigate the machine along a first trajectory from a first location within the environment to a second location within the environment;
• determining that the wheel occludes a second area of the environment from the one or more sensors when the wheel is in a second pose to navigate the machine along a second trajectory from the first location within the environment to the second location within the environment, the second pose of the wheel being different than the first pose of the wheel;
• selecting, based at least on the first area being less than the second area, to navigate along the first trajectory;
• and
• causing the machine to navigate along the first trajectory.

A system comprising:

• one or more processors to:
• determine that a wheel occludes a first area of an environment from one or more sensors of a machine when the wheel is in a first pose to cause the machine to navigate along a first trajectory from a first location within the environment to a second location within the environment;
• determine that the wheel occludes a second area of the environment from the one or more sensors when the wheel is in a second pose to navigate the machine along a second trajectory from the first location within the environment to the second location within the environment, the second pose of the wheel being different than the first pose of the wheel;
• select, based at least on the first area being less than the second area, to navigate along the first trajectory;
• and
• cause the machine to navigate along the first trajectory.