Patent attributes
In one implementation, a method of enriching a three-dimensional scene model with a three-dimensional object model based on a semantic label is performed at a device including one or more processors and non-transitory memory. The method includes obtaining a three-dimensional scene model of a physical environment including a plurality of points, wherein each of the plurality of points is associated with a set of coordinates in a three-dimensional space, wherein a subset of the plurality of points is associated with a particular cluster identifier and a particular semantic label. The method includes retrieving a three-dimensional object model based on the particular semantic label, the three-dimensional object model including at least a plurality of points. The method includes updating the three-dimensional scene model by replacing the subset of the plurality of points with the three-dimensional object model.
