There also seem to be general problems with objects disappearing when they are obscured by other objects, and then reappear later, when no longer obscured. It

There also seem to be general problems with objects disappearing when they are obscured by other objects, and then reappear later, when no longer obscured. It is ridiculous, that the model doesn’t keep track of objects, and assume they continue with current velocity when they become obscured. It seems like a relatively simple thing to add depending on how they represent objects. You could even determine when the objects are obscured by other objects. In 8.x videos I noticed cars shifting and rotating a lot over fractions of a second, so it seemed like they needed a Kalman filter for objects and roads. Objects in 9.0 look more stable, but I still see lanes, curbs, and entire intersections shifting noticeably from frame to frame. So if they added time (multiple frames) to the model, it is still not working that well.