Semantic annotation of point cloud clusters

In one implementation, a method of performing semantic annotation of a point cloud cluster at a device including one or more processors and a non-transitory memory. The method includes obtaining a point cloud of a physical environment including a plurality of points, each of the plurality of points associated with coordinates in a three-dimensional space. The method includes spatially eliminating portions of the plurality of points into a plurality of clusters. The method includes determining a semantic tag based on a volumetric arrangement of points of a particular cluster of the plurality of clusters. The method includes generating a characterization vector for a particular point in the points of the particular cluster, wherein the characterization vector includes coordinates for the particular point, a cluster identifier for the particular cluster, and a semantic tag. 在一个具体实施中，在包括一个或多个处理器和非暂态存储器的设备处执行对点云集群的语义标注的方法。该方法包括获得包括多个点的物理环境的点云，该多个点中的每一个与三维空间中的坐标相关联。该方法包括将多个点的部分在空间上消除成多个集群。该方法包括基于该多个集群中的特定集群的点的体积布置来