Determining occupancy of occluded regions

A system comprising:

• one or more processors;
• and
• one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
• determining, as an occluded region, a portion of an environment that is occluded from a sensor;
• determining, based at least in part on receiving sensor data from the sensor over a period of time, a probability that at least a portion of the occluded region is free of an object;
• and
• controlling a vehicle based at least in part on the probability that the at least the portion of the occluded region is free of the object.

A method comprising:

• determining, as an occluded region, a portion of an environment that is occluded from a sensor;
• determining, based at least in part on receiving sensor data from the sensor over a period of time, a probability that at least a portion of the occluded region is free of an object;
• and
• controlling a vehicle based at least in part on the probability that the at least the portion of the occluded region is free of the object.

One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations comprising:

• determining, as an occluded region, a portion of an environment that is occluded from a sensor;
• determining, based at least in part on receiving sensor data from the sensor over a period of time, a probability that at least a portion of the occluded region is free of an object;
• and
• controlling a vehicle based at least in part on the probability that the at least the portion of the occluded region is free of the object.