公开(公告)号：US10936908B1

公开(公告)日：2021-03-02

申请号：US16869093

申请日：2020-05-07

Applicant: Apple Inc.

Inventor： Huy Tho Ho ,  Jingwei Wang ,  Kjell Fredrik Larsson

IPC: G06K9/62 ,  G06T7/11 ,  G06K9/00

Abstract: Systems and methods for semantic labeling of point clouds using images. Some implementations may include obtaining a point cloud that is based on lidar data reflecting one or more objects in a space; obtaining an image that includes a view of at least one of the one or more objects in the space; determining a projection of points from the point cloud onto the image; generating, using the projection, an augmented image that includes one or more channels of data from the point cloud and one or more channels of data from the image; inputting the augmented image to a two dimensional convolutional neural network to obtain a semantic labeled image wherein elements of the semantic labeled image include respective predictions; and mapping, by reversing the projection, predictions of the semantic labeled image to respective points of the point cloud to obtain a semantic labeled point cloud.