Abstract: Disclosed herein are system, method, and computer program product embodiments for detecting lane segments in an image for creating high-definition (HD) maps. A neural network can be used to classify a pixel of an image of a location as belonging to a driving lane. If the pixel belongs to a first boundary line of the driving lane, it is labeled accordingly. Based on the labeled pixel and one or more additional labeled pixels as part of the first boundary line of the driving lane, a first line drawing of the first boundary line of the driving lane is constructed. A lane segment based on a combination of the first line drawing of the first boundary line of the driving lane and a second line drawing of a second boundary line of the driving lane can be created.

Abstract: Systems and methods for generating operating an autonomous vehicle. The methods comprise: obtaining LiDAR point cloud data generated by a LiDAR system of the autonomous vehicle; inspecting the LiDAR point cloud data to infer a health of LiDAR beams; identifying bad quality point cloud data based on the inferred health of the LiDAR beams; removing the bad quality point cloud data from the LiDAR point cloud data to generate modified LiDAR point cloud data; and causing the autonomous vehicle to perform at least one autonomous driving operation or mode change based on the modified LiDAR point cloud data.