Systems and methods for enhancement of 3d object detection using point cloud semantic segmentation and attentive anchor generation

A system comprising a processor device coupled to a memory, the memory storing executable instructions that when executed by the processor device configure the system to perform an object detection task comprising:

• obtaining a semantic segmentation map representing a real-world space, the semantic segmentation map including an array of elements that each represent a respective location in the real-world space, the array of elements including elements that are each assigned a respective element classification label selected from a set of possible classification labels that correspond to different classifications of dynamic objects;
• clustering groups of the elements based on the assigned respective element classification labels to identify at least a first cluster of elements that have each been assigned the same respective element classification label;
• generating, based on a location of the first cluster within the semantic segmentation map, at least one anchor that defines a respective probable object location of a first dynamic object;
• and
• generating, based on the semantic segmentation map and the at least one anchor, a respective bounding box and object instance classification label for the first dynamic object.

A non-transitory computer readable medium having instructions stored thereon, wherein the instructions, when executed by a processor device of a computing system, cause the computing system to perform a method comprising:

• obtaining a semantic segmentation map representing a real-world space, the semantic segmentation map including an array of elements that each represent a respective location in the real-world space, the array of elements including elements that are each assigned a respective element classification label selected from a set of possible classification labels that correspond to different classifications of dynamic objects;
• clustering groups of the elements based on the assigned respective element classification labels to identify at least a first cluster of elements that have each been assigned the same respective element classification label;
• generating, based on a location of the first cluster within the semantic segmentation map, at least one anchor that defines a respective probable object location of a first dynamic object;
• and
• generating, based on the semantic segmentation map and the at least one anchor, a respective bounding box and object instance classification label for the first dynamic object.