Semantic segmentation of three-dimensional data

A vehicle computing system comprising:

• one or more processors;
• and
• one or more non-transitory computer-readable media storing instructions executable by the one or more processors to perform operations, the operations 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.

One or more non-transitory computer-readable media storing instructions executable by one or more processors to cause the one or more processors to perform operations, the operations 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.