SEMANTIC POINT CLOUD MAP LOCALIZATION AND MAPPING

A point cloud based semantic segmentation system includes a first vehicle, a second vehicle, and a server. The first vehicle includes a first imaging sensor, a first position sensor, and a first electronic control unit (ECU). The first ECU receives a point cloud representation of the external environment from the first imaging sensor. The first ECU associates a location of the point cloud representation based on odometry information received from the first position sensor. The server performs semantic segmentation on features in the point cloud representation and generates a map including semantically segmented features. The second vehicle is localized on the generated map using a second imaging sensor, a second position sensor, and a second ECU. The second ECU receives a second point cloud representation and second odometry information and localizes the second vehicle on the generated map based on the received information.