CPC G06T 15/20 (2013.01) [G06V 10/82 (2022.01); G06V 20/56 (2022.01); G06V 20/64 (2022.01); G06V 20/58 (2022.01)] | 20 Claims |
1. A method comprising:
obtaining point cloud data representing a sensor measurement of a scene captured by a sensor, the point cloud data comprising a respective feature representation for each of a plurality of three-dimensional points in the scene;
generating, for each of one or more views of the scene, a corresponding dynamic voxel representation that assigns, to each voxel of a set of voxels for the view, a variable number of three-dimensional points, wherein each three-dimensional point in the point cloud data is assigned to a respective one of the voxels of the set of voxels in the corresponding dynamic voxel representation, and wherein the generating comprises:
assigning, based on positions of the three-dimensional points in the point cloud data according to the view, each of the three-dimensional points to a respective one of the voxels of the set of voxels; and
processing the dynamic voxel representations corresponding to each of the one or more views to generate an output that characterizes the scene.
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