Identifying dynamic objects in a point cloud

A computer system comprising:

• one or more processors;
• and
• one or more non-transitory computer readable storage media storing instructions that in response to being executed by the one or more processors, cause the system to perform operations comprising:
• obtaining a first point cloud from a map representing a region;
• obtaining a second point cloud from one or more sensors of a vehicle traveling through the region;
• identifying one or more subsets of clusters of second points of the second point cloud;
• determining correspondences between first points of the first point cloud and cluster points of the one or more subsets of clusters of the second point cloud;
• identifying at least a cluster of the one or more subsets of clusters, the identified cluster having, with respect to first points of the first point cloud, a correspondence percentage that is less than a threshold value;
• adjusting the second point cloud based on the identified cluster;
• and
• determining a location of the vehicle in the region based on the adjusted second point cloud.

One or more non-transitory computer readable storage media storing instructions that in response to being executed by one or more processors, cause a system to perform operations comprising:

• obtaining a first point cloud from a map representing a region;
• obtaining a second point cloud from one or more sensors of a vehicle traveling through the region;
• identifying one or more subsets of clusters of second points of the second point cloud;
• determining correspondences between first points of the first point cloud and cluster points of the one or more subsets of clusters of the second point cloud;
• identifying at least a cluster of the one or more subsets of clusters, the identified cluster having, with respect to first points of the first point cloud, a correspondence percentage that is less than a threshold value;
• adjusting the second point cloud based on the identified cluster;
• and
• determining a location of the vehicle in the region based on the adjusted second point cloud.