AUTOMATIC ANNOTATION OF DRIVABLE ROAD SEGMENTS

Provided are techniques for automatic annotation of drivable road segments, including but not limited to: receiving sensor data, generating a map, dividing the map into disjoint sub-maps, inferring sub-map segmentation masks, constructing an inferred segmentation mask, filtering the inferred segmentation mask, smoothing the filtered segmentation mask, planning a path for a vehicle and controller the vehicle.