| CPC G06T 15/04 (2013.01) [B60W 30/0956 (2013.01); B60W 50/06 (2013.01); B60W 60/001 (2020.02); G06N 3/045 (2023.01); G06N 3/08 (2013.01); G06T 7/70 (2017.01); G06T 9/002 (2013.01); G06T 15/00 (2013.01); G06T 17/05 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30248 (2013.01)] | 20 Claims |
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1. A computer-implemented method comprising:
performing a scene reconstruction process comprising:
obtaining a surfel map generated from sensor observations of a real-world environment, wherein the surfel map assigns a surfel to each of a plurality of points in a three-dimensional space of the real-world environment, and
generating, for each surfel in the surfel map, a surfel textures; and
performing a synthesis process to generate simulated sensor data from a simulated location in the surfel map, the synthesis process comprising:
generating a textured surfel rendering from surfel textures visible from the simulated location,
generating one or more segmentation maps from the surfel map, and
processing an input comprising: (i) the textured surfel rendering generated from the surfel textures, and (ii) the one or more segmentations maps using a generative adversarial network to generate the simulated sensor data from the simulated location.
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