Abstract: A computer-implemented method of detecting object distortion. The method includes receiving sensor data generated by a plurality of sensors of the vehicle. The plurality of sensors includes a first set of one or more sensors configured to sense an environment by sequentially advancing through a plurality of points in a scan pattern. The plurality of sensors also include a second set of one or more sensors configured to sense the environment by capturing an entirety of the frame at a single time. The method also includes comparing a shape of the point cloud representation of the object to a shape of the object as sensed by the second set of sensors and identifying that the object is distorted based on the shape of the point cloud representation of the object component not matching the shape of the object as sensed by the second set of sensors.