US 12,223,705 B2
Semantic segmentation of three-dimensional data
Chris Jia-Han Zhang, Mississauga (CA); Wenjie Luo, Toronto (CA); and Raquel Urtasun, Toronto (CA)
Assigned to AURORA OPERATIONS, INC., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Pittsburgh, PA (US)
Filed on Apr. 13, 2023, as Appl. No. 18/299,970.
Application 18/299,970 is a continuation of application No. 17/208,509, filed on Mar. 22, 2021, granted, now 11,657,603.
Application 17/208,509 is a continuation of application No. 16/123,233, filed on Sep. 6, 2018, granted, now 10,970,553, issued on Apr. 6, 2021.
Claims priority of provisional application 62/586,777, filed on Nov. 15, 2017.
Prior Publication US 2023/0252777 A1, Aug. 10, 2023
Int. Cl. G06V 10/82 (2022.01); G01S 7/48 (2006.01); G06T 3/06 (2024.01); G06V 10/764 (2022.01); G06V 10/776 (2022.01); G06V 20/10 (2022.01); G06V 20/40 (2022.01); G06V 20/56 (2022.01); G06V 20/64 (2022.01); G01S 17/89 (2020.01)
CPC G06V 10/82 (2022.01) [G01S 7/4808 (2013.01); G06T 3/06 (2024.01); G06V 10/764 (2022.01); G06V 10/776 (2022.01); G06V 20/10 (2022.01); G06V 20/41 (2022.01); G06V 20/56 (2022.01); G06V 20/64 (2022.01); G01S 17/89 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method of semantic segmentation, the method comprising:
obtaining sensor data comprising three-dimensional data associated with an environment;
determining data indicative of a two-dimensional voxel representation associated with the environment based at least in part on the three-dimensional data and a voxel grid, wherein the two-dimensional voxel representation is associated with one or more voxels;
determining a voxel classification for respective voxels of the one or more voxels associated with the two-dimensional voxel representation, based at least in part on the two-dimensional voxel representation; and
determining a classification for respective points of a plurality of points within the three-dimensional data based at least in part on the voxel classification for the respective voxels.