Object Detection for Autonomous Vehicles

An example method includes generating, a first bounding shape for an object within an environment of an autonomous vehicle, the first bounding shape indicating a boundary corresponding to a shape of the object. The example method includes identifying an extension of the object outside the boundary corresponding to the shape of the object. The example method includes generating, based on the first bounding shape, a second bounding shape for the object, the extension of the object enclosed in an interior region of the second bounding shape. The example method includes generating, based on the second bounding shape, a motion plan for the autonomous vehicle to control the motion of the autonomous vehicle relative to the second bounding shape. The example method includes providing instructions to control the motion of the autonomous vehicle in accordance with the motion plan.