Lidar scene generation for training machine learning models

A system for training a machine learning model, the system comprising:

• one or more computer processors programmed to perform operations comprising:
• obtaining a map of a background scene, the map comprising three-dimensional (3D) point cloud data;
• obtaining at least one point cloud representation of at least one foreground object, the at least one point cloud representation comprising 3D point cloud data,
• wherein one or more light detection and ranging (lidar) sensors were used to generate the 3D point cloud data for the map and the at least one point cloud representation;
• generating a lidar scene by placing the at least one point cloud representation within the map;
• and
• training the machine learning model using the generated lidar scene.

A method of controlling a vehicle, comprising:

• collecting data using a light detection and ranging (lidar) sensor on the vehicle while the vehicle is being operated;
• providing the data to a machine learning model,
• wherein the machine learning model has been trained using a generated lidar scene, and
• wherein the generated lidar scene comprises a lidar point cloud representation of at least one foreground object placed within a map of a background scene comprising lidar point cloud data,
• receiving from the machine learning model an identification of an object in a vicinity of the vehicle;
• and
• controlling the vehicle based on the identification of the object in the vicinity of the vehicle.