Segmentation of lidar range images

A processor comprising one or more circuits to:

• receive LiDAR data from one or more LiDAR sensors of a vehicle in an environment;
• generate, from the LiDAR data, a representation of a LiDAR range image of the environment;
• generate, using one or more Neural Networks (NNs), classification data from the representation of the LiDAR range image, the classification data representing one or more classifications of objects or scenery depicted in the LiDAR range image;
• determine one or more bounding shapes of the objects or scenery based at least on the classification data;
• and
• output data representing the one or more bounding shapes to a control component of the vehicle.

A system comprising:

• one or more processing units;
• and
• one or more memory units storing instructions that, when executed by the one or more processing units, cause the one or more processing units to execute operations comprising:
• generating, from LiDAR data, a representation of a projection image of an environment;
• generating, based at least on the representation of the projection image and using one or more neural networks (NNs), classification data representing one or more classifications of the environment;
• and
• generating data representing one or more bounding shapes and class labels of one or more objects or scenery detected in the environment based at least on the classification data.