I'm pretty sure Waymo does this. It's hard to imagine not using this information, it's basically 50% of what I do when driving (e.g. that kid that was running on the sidewalk suddenly disappeared from view in an unexpected way; I wonder if he's about to cut across the street, etc).
Oups a ball crossed the street 15m ahead. Let's slowdown to a crawl and watch for the kid is what a human would do.
I suppose they may have special cased the ball case.
Nice in theory but in practice they still need a ton of training data. The bitter lesson is very bitter. Tesla's end to end FSD uses occupancy networks and brake stabbing still hasn't been fully solved.
Ironically, I'm sure most humans have done the eyeball equivalent a handful of times, despite our knowledge of object permeance.