Systems and methods for environment mapping based on multi-domain sensor data

An apparatus for environment mapping, the apparatus comprising:

• at least one memory;
• and
• at least one processor coupled to the at least one memory and configured to:
• receive image data and depth data captured using at least one sensor, the image data and the depth data including respective representations of an environment;
• process the image data using semantic segmentation to generate segmented image data that identifies a plurality of segments of the environment, wherein the plurality of segments represent different types of objects in the environment;
• and
• combine the depth data with the segmented image data to generate a voxel-based three-dimensional map of the environment.