Surfel reprojection of semantic data for accelerated augmented reality perception

A computer program product comprising a nontransitory storage medium, the computer program product including code that, when executed by at least one processor, causes the at least one processor to perform a method, the method comprising:

• generating a first semantic image for a first image frame of a sequence of image frames by generating a respective semantic classification for each pixel of a plurality of pixels of the first image frame;
• storing the respective semantic classification for at least a subset of the plurality of pixels of the first image frame in a set of data structures;
• and
• deriving a second semantic image for a second image frame of the sequence of image frames based on the respective semantic classification stored in the set of data structures.

An apparatus, comprising:

• memory;
• and
• processing circuitry coupled to the memory, the processing circuitry being configured to:
• generate a first semantic image for a first image frame of a sequence of image frames by generating a respective semantic classification for each pixel of a plurality of pixels of the first image frame;
• store the respective semantic classification for at least a subset of the plurality of pixels of the first image frame in a set of data structures;
• and
• derive a second semantic image for a second image frame of the sequence of image frames based on the respective semantic classification stored in the set of data structures.