公开(公告)号：US12223705B2

公开(公告)日：2025-02-11

申请号：US18299970

申请日：2023-04-13

Applicant: Aurora Operations, Inc.

Inventor： Chris Jia-Han Zhang ,  Wenjie Luo ,  Raquel Urtasun

IPC: G06V10/82 ,  G01S7/48 ,  G06T3/06 ,  G06V10/764 ,  G06V10/776 ,  G06V20/10 ,  G06V20/40 ,  G06V20/56 ,  G06V20/64 ,  G01S17/89

Abstract: Systems and methods for performing semantic segmentation of three-dimensional data are provided. In one example embodiment, a computing system can be configured to obtain sensor data including three-dimensional data associated with an environment. The three-dimensional data can include a plurality of points and can be associated with one or more times. The computing system can be configured to determine data indicative of a two-dimensional voxel representation associated with the environment based at least in part on the three-dimensional data. The computing system can be configured to determine a classification for each point of the plurality of points within the three-dimensional data based at least in part on the two-dimensional voxel representation associated with the environment and a machine-learned semantic segmentation model. The computing system can be configured to initiate one or more actions based at least in part on the per-point classifications.