1. A method comprising: receiving sensor data associated with a vehicle, wherein the sensor data comprises a plurality of frames of sensor data indicative of an environment, wherein the sensor data comprises sensor data from a sensor, and wherein the vehicle is configured to operate in an autonomous mode in the environment; determining, by a computing device, that a first respective frame of the plurality of frames of sensor data indicates detection of an object in the environment; identifying, from within the plurality of frames of sensor data, other respective frames that indicate detection of a second object in the environment; comparing, by the computing device, the first respective frame of the plurality of frames of sensor data that indicates detection of the object in the environment to the other respective frames of the plurality of frames of sensor data that indicate detection of the second object in the environment; based on the comparison, determining: (i) whether a location of the object indicated by the first respective frame of the plurality of frames of sensor data is substantially the same as a location of the second object indicated by the other respective frames of the plurality of frames of sensor data, and (ii) a time window indicative of a time between collection of the first respective frame of the plurality of frames of sensor data that indicates detection of the object and collection of the other respective frames of the plurality of frames of sensor data that indicate detection of the second object; based on prior detections of objects by the sensor, determining (i) an expected number of detections of the object by the sensor in response to the object being a stationary object in the environment and (ii) an expected amount of time between the expected number of detections; making a determination that the object indicated by the first respective frame of the plurality of frames of sensor data is the same as the second object indicated by the other respective frames of the plurality of frames of sensor data based on: (i) detection of the second object being indicated more than a threshold number of times in the other respective frames of the plurality of frames of the sensor data, wherein the threshold number of times is based on the expected number of detections, (ii) the location of the object indicated by the first respective frame of the plurality of frames of sensor data being substantially the same as the location of the second object indicated by the other respective frames of the plurality of frames of sensor data, and (iii) the time window being greater than a time threshold, wherein the time threshold is based on the expected amount of time; and based on the determination, providing instructions to control the vehicle in the environment.