Systems and methods for automatic estimation of the detection systems obscured areas for safe autonomous vehicle navigation

A method for automatic estimation of detection system obscured areas for autonomous vehicle navigation, the method comprising:

• receiving, using at least a processor, an object model from an object database, wherein the object model comprises a LIDAR mask and an RGB mask;
• receiving, using the at least a processor and from an autonomous vehicle, a plurality of real-world LIDAR data and real-world camera data, wherein the real-world LIDAR data and real-world camera data describe a three-dimensional (3D) space at least partially surrounding the autonomous vehicle;
• inserting, using the at least a processor, a plurality of copies of the object model into the 3D space to form augmented data, wherein inserting the plurality of copies of the object model into the 3D space comprises:
• performing an RGB ray-casting procedure comprising updating RGB image pixels with pixels from the inserted object model;
• and
• performing a LIDAR ray-casting procedure, comprising:
• determining a plurality of projected LIDAR points;
• determining depth values for each of the projected LIDAR points as a function of the LIDAR mask;
• and
• geometrically modeling, as a function of the depth values and the projected LIDAR points, return locations for LIDAR rays that hit the projected LIDAR points;
• and
• determining, using the at least a processor and a perception system, a detection status for each of the plurality of copies of the object model in the 3D space.