HYBRID GEOMETRIC PRIMITIVE REPRESENTATION FOR POINT CLOUDS

A method for generating a visual representation of an environment based on a point cloud includes hierarchically processing the point cloud with different granularity levels to generate multiple groups of primitives and multiple sets of points. The method also includes generating a group of intermediate sets associated with the point cloud, each intermediate set associated with one of the multiple groups of primitives and one of the multiple sets of points, having a same granularity level. The method further includes iteratively determining respective features associated with each intermediate set of a sequence of intermediate sets, each intermediate set included the set of primitives and the set of points, the respective features including first features of the set of primitives and second features of the set of points. The method still further includes generating the visual representation based on the respective features of each one of the sequence of intermediate sets.