The subject disclosure relates to ways to identify self-hit data collected by autonomous vehicle (AV) sensors. In some aspects, a method of the disclosed technology includes steps for generating a geometric model of an autonomous vehicle (AV), wherein the geometric model specifies physical boundaries of the AV in three-dimensional (3D) space, collecting sensor data for an environment around the AV, and identifying one or more data points, from among the collected sensor data, that correspond with a surface of the AV. Systems and machine-readable media are also provided.