Real-time map data generation

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

• determining, based at least in part on first sensor data associated with a first sensor of a vehicle, first data comprising a first view of an environment;
• determining, based at least in part on the first sensor data and second sensor data associated with a second sensor of the vehicle, second data comprising a second view of the environment, the second view different from the first view;
• receiving state data associated with a dynamic object detected in the environment at a previous time;
• inputting the first data, the second data, and the state data into a machine learned model;
• receiving, from the machine learned model, output data representing a map comprising a drivable surface that is defined based at least in part on the first view of the first data and the second view of the second data;
• and
• controlling the vehicle in the environment based at least in part on the output data.

A method comprising:

• determining, based at least in part on first sensor data associated with a first sensor of a vehicle, first data comprising a first view of an environment;
• determining, based at least in part on the first sensor data and second sensor data associated with a second sensor of the vehicle, second data comprising a second view of the environment, the second view different from the first view;
• receiving state data associated with a dynamic object detected in the environment at a previous time, the state data representing an orientation, a velocity, an acceleration, or a location of the dynamic object at the previous time;
• inputting the first data, the second data, and the state data into a machine learned model;
• receiving, from the machine learned model, a map comprising a drivable surface that is defined based at least in part on the first view of the first data and the second view of the second data;
• and
• controlling the vehicle in the environment based at least in part on the map.