Methods and systems for handling occlusions in operation of autonomous vehicle

A system for navigating an autonomous vehicle, the system comprising:

• at least one processor;
• programming instructions stored in a memory and configured to cause the processor to:
• receive sensor data corresponding to an environment;
• identify one or more particles of a plurality of initialized particles that have a non-zero probability of being associated with a potential occluded actor in an occluded region of the environment, each particle being associated with a potential actor;
• and
• generate, based on spatiotemporal reasoning about the occluded region and taking into account the one or more particles, a trajectory of the autonomous vehicle for traversing the environment.

A computer program product comprising a non-transitory computer-readable medium that stores instructions that, when executed by a computing device, will cause the computing device to perform operations comprising:

• receiving sensor data corresponding to an environment;
• identifying one or more particles of a plurality of initialized particles that have a non-zero probability of being associated with a potential occluded actor in the occluded region, each particle being associated with a potential actor;
• and
• generating, based on spatiotemporal reasoning about the occluded region and taking into account the one or more particles, a trajectory of the autonomous vehicle for traversing the environment.