STATIC OBSTACLE MAP BASED PERCEPTION SYSTEM

A system and method for using static objects of an area detected during an offline map generation process to aid the online perception algorithm of an autonomous driving vehicle (ADV) is disclosed. The offline map generation process may collect multiple point cloud data of the same area. A perception algorithm may operate on the point cloud data to detect static objects, which may be fixed road features that do not change among the point cloud data, allowing the perception algorithm to more accurately detect the static objects. During online operation of the ADV through the area, the ADV may trim regions-of-interest (ROI) of the area to exclude the predefined static objects. The perception algorithm may execute the sensor data of the ROI in real-time to detect objects in the ROI. The predefined static objects may be added back to the output of the perception algorithm to complete the perception output.