1. A method comprising: receiving, at a computing device from an image-capture device coupled to a vehicle, an image depicting an object in an environment of the vehicle; receiving, at the computing device via one or more sources coupled to the vehicle, information indicating a plurality of characteristics of the object; determining by a computing device, using the information indicating the plurality of characteristics of the object, a particular portion of a plurality of portions of the image depicting the object; based on the plurality of characteristics of the object, determining a location of the object within the particular portion of the image; identifying by the computing device, using the determined location of the object and the plurality of characteristics of the object, that the object is at least partially occluded in the particular portion of the image; processing the particular portion of the image to determine a control strategy for the vehicle based on one or more of the plurality of characteristics of the object and the identification that the object is at least partially occluded; and modifying one or more systems associated with the vehicle to control the vehicle based on the determined control strategy.