Eliminating sensor self-hit data

A system for detecting sensor data self-hits, the system comprising:

• one or more processors;
• at least one Light Detection and Ranging (LiDAR) sensor coupled to the one or more processors;
• and
• a computer-readable medium comprising instructions stored therein, which when executed by the processors, cause the processors to perform operations comprising:
• generating a geometric model of an autonomous vehicle (AV), wherein the geometric model specifies physical boundaries of the AV in three-dimensional (3D) space;
• collecting sensor data for an environment around the AV;
• and
• identifying one or more data points, from among the collected sensor data, that correspond with a surface of the AV.

A non-transitory computer-readable storage medium comprising instructions stored therein, which when executed by one or more processors, cause the processors to perform operations comprising:

• generating a geometric model of an autonomous vehicle (AV), wherein the geometric model specifies physical boundaries of the AV in three-dimensional (3D) space;
• collecting sensor data for an environment around the AV;
• and
• identifying one or more data points, from among the collected sensor data, that correspond with a surface of the AV.