SYSTEMS AND METHODS FOR ENVIRONMENT MAPPING BASED ON MULTI-DOMAIN SENSOR DATA

Systems and techniques for environment mapping are described. In some examples, a system receives image data and depth data captured using at least one sensor. The image data and the depth data both include respective representations of an environment. The system processes the image data using semantic segmentation to identify segments of the environment that represent different types of objects in the environment in the image data. The system combines the depth data with the semantic segmentation to generate a voxel-based three-dimensional map of the environment.