MAP WITH SENSING FOR 3D OBJECT DETECTION AND DRIVABLE PATHS FOR DETECTION OF OCCLUDED OBJECTS

A navigation system may receive a captured image acquired by a camera onboard a host vehicle; determine a localized position of the host vehicle relative to a map representative of the road segment; generate based on the localized position of the host vehicle and three-dimensional location information associated with the plurality of topography features, a two-dimensional image representation of a plurality of road topography features; analyze the captured image and the two-dimensional image representation and determine three-dimensional information for at least one object represented in the captured image, but not represented in the map representative of the road segment, based on the three-dimensional location information associated with the plurality of topography features included in the map; determine, based on the three-dimensional information for the at least one object, at least one navigational action for the host vehicle; and cause the host vehicle to implement the at least one navigational action.