US Patent 11436504 Unified scene graphs

Indications of static objects (e.g., lane segments, signs etc.) and dynamic objects (e.g., moving vehicles, pedestrians and the like) in the operation environment of a vehicle are obtained. A graph comprising a plurality of nodes and edges is generated. Individual ones of the nodes represent respective static and dynamic objects, and an edge between a first pair of nodes represents a relationship between the objects represented by the pair. The graph includes an indication of an uncertainty metric associated with the relationship. To generate the graph, a geometric analysis is performed, as a result of which an edge between a different pair of nodes is excluded from the graph. Using the graph, one or more operations of a task pertaining to vehicle movements is performed.