Object segmentation based on detected object-specific visual cues

A non-transitory computer readable medium having stored thereon instructions that, upon execution by a computing device, cause the computing device to perform operations comprising:

• receiving one or more images of a physical environment, wherein the one or more images include one or more objects;
• based on the one or more images, determining one or more regions of the one or more images, the one or more regions representing estimated boundaries of distinct objects in the physical environment;
• determining a type of surface feature predicted to be contained on a portion of one or more surfaces of a single object;
• identifying surface features of the type within the one or more regions;
• determining, for each region of the determined one or more regions, a respective confidence score based on whether an identified surface feature is contained in the region, wherein the respective confidence score is indicative of a probability that the region corresponds to a distinct object in the physical environment;
• and
• based on the determined confidence scores, determining a virtual representation of the physical environment including at least one distinct object segmented from a remaining portion of the physical environment so as to virtually distinguish a boundary of the at least one distinct object from boundaries of objects present in the remaining portion of the physical environment.

A system comprising:

• at least one processor;
• and
• data storage comprising instructions executable by the at least one processor to cause the system to perform operations comprising:
• receiving one or more images of a physical environment, wherein the one or more images include one or more objects,
• based on the one or more images, determining one or more regions of the one or more images, the one or more regions representing estimated boundaries of distinct objects in the physical environment;
• determining a type of surface feature predicted to be contained on a portion of one or more surfaces of a single object, the portion being different from a full length of a boundary of the one or more surfaces of the single object,
• identifying surface features of the type within the one or more regions;
• determining, for each region of the determined one or more regions, a respective confidence score based on whether an identified surface feature is contained in the region, wherein the respective confidence score is indicative of a probability that the region corresponds to a distinct object in the physical environment;
• and
• based on the determined confidence scores, determining a virtual representation of the physical environment including at least one distinct object segmented from a remaining portion of the physical environment so as to virtually distinguish a boundary of the at least one distinct object from boundaries of objects present in the remaining portion of the physical environment.