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1. A method of navigating an autonomous vehicle through an environment comprising an occluded region, the method comprising: generating a plurality of initialized particles by: initializing, using sampling, a plurality of particles in a region of interest using map data and absent sensor data, each particle being representative of an initial hypothesis associated with a potential actor; and assigning, to each of the plurality of particles, an initial hypothesis state and an initial probability using a uniform distribution sampling and absent the sensor data; receiving the sensor data corresponding to the environment; generating, using the sensor data, a visibility map corresponding to the environment, the visibility map comprising a plurality of cells that each include information about an occluded state of that cell and being representative of an ability of the autonomous vehicle to perceive or track one or more objects in the environment; generating, for each of the plurality of initialized particles, a forecasted hypothesis state by propagating the respective initialized particle using a process model associated with the particle to a measurement time associated with the sensor data; assigning, using the visibility map and the forecasted hypothesis state, an updated probability to each of the plurality of initialized particles; identifying, based on the updated probabilities, one or more particles among the plurality of initialized particles having a non-zero probability as being associated with a potential occluded actor in the occluded region, each particle being associated with a potential actor; and generating, based on spatiotemporal reasoning about the occluded region and taking into account the one or more particles, a trajectory of the autonomous vehicle for traversing the environment; and controlling the autonomous vehicle to traverse the environment using the trajectory generated.
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