OBJECT DETECTION AND TRACKING, INCLUDING PARALLELIZED LIDAR SEMANTIC SEGMENTATION

Generating a semantic segmentation of point cloud data may include detecting an object based at least in part one or more images and using the image-based object detection in combination with the point cloud data to determine the semantic segmentation of the point cloud data. The semantic segmentation of point cloud data may be conducted in parallel with executing an object tracking component. Parallelizing these functions reduces the amount of time it takes to use sensors to detect and track objects and the point cloud semantic segmentation may provide further granularity for planning and ML model training.