# Road Segmentation and Environment Labeling for Autonomous Vehicles
## 3 System Design
### Clustering--Block B
The clusters may not necessarily be as accurate but can still produce semantically meaningful groupings. Another downside of the method is that it requires the number of clusters as a hyper parameter. In the future, the approach can be extended to incorporate graphical neural networks to learn the relationship between the neighboring points using node classification and segmentation. Conceptualization, V.S.S. and H.Y. ; Data curation, R.-C.C. and V.S.S. ; Formal analysis, R.-C.C., V.S.S., L.-S.C. and H.Y. ; Funding acquisition, R.-C.C. and L.-S.C.; Investigation, R.-C.C., V.S.S. and H.Y. ; Methodology, V.S.S. ; Project administration, R.-C.C. and L.-S.C.; Software, V.S.S. and H.Y. ; Supervision, R.-C.C. and L.-S.C.; Validation, R.-C.C. and V.S.S. ; Visualization, V.S.S. ; Writing--original draft, V.S.S. ; Writing--review & editing, R.-C.C. All authors have read and agreed to the published version of the manuscript. **Funding:** This paper is funded by the Ministry of Science and Technology, Taiwan. The No.s are MOST-110-2927-I-324-50, MOST-110-2221-E-324-010 and MOST-109-2622-E-324-004, Taiwan. **Institutional Review Board Statement:** Not applicable. **Infrared Consent Statement:** Not applicable. **Data Availability Statement:** [[https://www.a2d2.audi/a2d2/en/dataset.html](https://www.a2d2.audi/a2d2/en/dataset.html)]([https://www.a2d2.audi/a2d2/en/dataset.html](https://www.a2d2.audi/a2d2/en/dataset.html)). **Acknowledgments:** The authors would like to thank [PERSON], Sr. Data Scientist, for editing, proofreading and evaluating the contents of the paper. **Conflicts of Interest:** The authors declare no conflict of interest. ## References

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