Depth data processing systems and methods are disclosed. A mapping system receives, from one or more depth sensors, depth sensor data that includes a plurality of points corresponding to an environment. The mapping system uses one or more trained machine learning models to perform semantic segmentation of the plurality of points, to classify a first subset of the points into a first category and to classify a second subset of the points into a second category. The mapping system clusters the plurality of points into a plurality of clusters based on the semantic segmentation. At least some of the first subset of the points are clustered into a first cluster and at least some of the second subset of the points are clustered into a second cluster. The mapping system generates a map of at least a portion of the environment based on the plurality of clusters.
CLASS-AWARE DEPTH DATA CLUSTERING
2023-06-22
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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