I'm sorry I was unclear - I meant that the scene could have changed since the Street View team was last through. The Google Maps data is surprisingly bad - we

I'm sorry I was unclear - I meant that the scene could have changed since the Street View team was last through. The Google Maps data is surprisingly bad - we saw several presentations about the Car, and they highlighted how awful it really is. I don't think that they're preplanning. I think that they're analyzing the scene for differences to simplify and speed calculation. Having good a priori data is really powerful.