# Deep Learning for Semantic Segmentation of 3D Ultrasound Data

arXiv: https://arxiv.org/abs/2601.13263 · HTML: https://mlsanity.com/paper/2601.13263/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 19 references that are in the map.
- First posted on arXiv 19 Jan 2026.

## Builds on (most cited first, 6 of 6)

- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [3D U-Net: Learning Dense Volumetric Segmentation from Sparse Annotation](https://mlsanity.com/paper/1606.06650/) (2016)
- [Image Segmentation Using Deep Learning: A Survey](https://mlsanity.com/paper/2001.05566/) (2020)
- [Generalised Dice overlap as a deep learning loss function for highly unbalanced segmentations](https://mlsanity.com/paper/1707.03237/) (2017)
- [Deep Learning for 3D Point Clouds: A Survey](https://mlsanity.com/paper/1912.12033/) (2019)
- [MONAI: An open-source framework for deep learning in healthcare](https://mlsanity.com/paper/2211.02701/) (2022)

## Abstract (arXiv)

Developing cost-efficient and reliable perception systems remains a central challenge for automated vehicles. LiDAR and camera-based systems dominate, yet they present trade-offs in cost, robustness and performance under adverse conditions. This work introduces a novel framework for learning-based 3D semantic segmentation using Calyo Pulse, a modular, solid-state 3D ultrasound sensor system for use in harsh and cluttered environments. A 3D U-Net architecture is introduced and trained on the spatial ultrasound data for volumetric segmentation. Results demonstrate robust segmentation performance from Calyo Pulse sensors, with potential for further improvement through larger datasets, refined ground truth, and weighted loss functions. Importantly, this study highlights 3D ultrasound sensing as a promising complementary modality for reliable autonomy.