Visibility determinations in physical space using evidential illumination values

Abstract

Systems and methods are disclosed for identifying visibility of a physical space using visibility values and indications of uncertainty associated with the visibility values. One method can include capturing an image of a physical space, dividing pixels of the image into presumably well-lit and presumably not well-lit categories based on an intensity threshold, generating an evidential illumination map for the image based at least partly on a comparison between a value of each pixel to the intensity threshold, and projecting the evidential illumination map onto data representing a three-dimensional scan of the physical space. Evidential values can enable an autonomous vehicle to more safely navigate spaces using camera data by enabling programmatic determination of uncertainty for the camera data.