Large uniform/featureless surfaces are the bane of stereo vision. And propagating in from the borders is extremely risky if there's any occlusion affecting the

Large uniform/featureless surfaces are the bane of stereo vision. And propagating in from the borders is extremely risky if there's any occlusion affecting the borders (read: if you get the borders wrong). Maybe in this particular instance you could look at the data and go "yep, that white surface is indeed closing in and not just some part of the sky". But how many false positives do you allow for "there's a huge thing in my way that requires emergency braking" in interstate scenarios?