{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
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  "description": "Methods, systems, and apparatus, including computer programs encoded on computer storage media, for detecting foreign objects using a surfel map. One of the methods includes receiving sensor data representing reflection characteristics of electromagnetic waves in an operating environment of an…",
  "path": "/patents/1314221",
  "publishedAt": "2022-03-31T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0015",
    "Waymo LLC"
  ],
  "textContent": "Methods, systems, and apparatus, including computer programs encoded on computer storage media, for detecting foreign objects using a surfel map. One of the methods includes receiving sensor data representing reflection characteristics of electromagnetic waves in an operating environment of an autonomous vehicle. A surfel map representing a portion of the operating environment of the autonomous vehicle is used to determine that the reflection data includes one or more mismatched reflection characteristics for a particular surfel in the surfel map. In response, a foreign object is detected at a location corresponding to the particular surfel having the one or more mismatched reflection characteristics.",
  "title": "FOREIGN OBJECT DETECTION WITH SURFEL MAPS"
}