Distinguishing, in a point cloud data set represented by an image, a first object from a second object

A method for distinguishing, in a point cloud data set represented by an image, a first object from a second object, the method comprising:

• calculating, by a processor, results of a set of functions, wherein current positions of points in the point cloud data set are arguments for the functions and the set of functions includes attraction functions for the points and repulsion functions for the points;
• causing, by the processor and based on the results, at least some of the points to move from the current positions to new positions;
• determining, by the processor and based on the at least some of the points being at the new positions, an existence of a condition;
• repeating, by the processor, in response to a lack of the existence of the condition, and with the current positions for the at least some of the points being replaced by the new positions, the calculating, the causing, and the determining;
• and
• distinguishing, by the processor, in response to the existence of the condition, and in the point cloud data set represented by the image with the at least some of the points being at the new positions, the first object from the second object.

A non-transitory computer-readable medium for distinguishing, in a point cloud data set represented by an image, a first object from a second object, the non-transitory computer-readable medium including instructions that when executed by one or more processors cause the one or more processors to:

• calculate results of a set of functions, wherein current positions of points in the point cloud data set are arguments for the functions and the set of functions includes attraction functions for the points and repulsion functions for the points;
• cause, based on the results, at least some of the points to move from the current positions to new positions;
• determine, based on the at least some of the points being at the new positions, an existence of a condition;
• repeat, in response to a lack of the existence of the condition and with the current positions for the at least some of the points being replaced by the new positions, the instructions that cause the one or more processors to calculate the results, the instructions that cause the one or more processors to cause the at least some of the points to move, and the instructions that cause the one or more processors to determine the existence of the condition;
• and
• distinguish, in response to the existence of the condition and in the point cloud data set represented by the image with the at least some of the points being at the new positions, the first object from the second object.