Apple Inc.
SEMANTIC LABELING OF POINT CLOUD CLUSTERS

Abstract:

In one implementation, a method of semantically labeling a point cloud cluster is performed at a device including one or more processors and non-transitory memory. The method includes obtaining a point cloud of a physical environment including a plurality of points, each of the plurality of points associated with coordinates in a three-dimensional space. The method includes spatially disambiguating portions of the plurality of points into a plurality of clusters. The method includes determining a semantic label based on a volumetric arrangement of the points of a particular cluster of the plurality of clusters. The method includes generating a characterization vector of a particular point of the points of the particular cluster, wherein the characterization vector includes the coordinates of the particular point, a cluster identifier of the particular cluster, and the semantic label.