Systems and methods of 3d scene segmentation and matching for robotic operations

A computer-implemented method comprising:

• receiving image data representations of a set of images of a physical asset;
• receiving a data model of at least one asset, the data model of each of the at least one assets including a semantic description of the respective modeled asset and at least one operation associated with the respective modeled asset;
• determining a match between the received image data and the data model of one of the at least one assets based on a correspondence therebetween;
• generating, for the data model determined to be a match with the received image data, an operation plan based on the at least one operation included in matched data model;
• executing, in response to the generation of the operation plan, the generated operation plan by the physical asset.

A non-transitory computer readable medium having executable instructions stored therein, the medium comprising:

• instructions to receive image data representations of a set of images of a physical asset;
• instructions to receive a data model of at least one asset, the data model of each of the at least one assets including a semantic description of the respective modeled asset and at least one operation associated with the respective modeled asset;
• instructions to determine a match between the received image data and the data model of one of the at least one assets based on a correspondence therebetween;
• instructions to generate, for the data model determined to be a match with the received image data, an operation plan based on the at least one operation included in matched data model;
• instructions to execute, in response to the generation of the operation plan, the generated operation plan by the physical asset.