公开(公告)号：SG11201811330WA

公开(公告)日：2019-01-30

申请号：SG11201811330W

申请日：2017-06-09

Applicant: IMPERIAL COLLEGE OF SCIENCE TECHNOLOGY AND MEDICINE

Inventor： MCCORMAC JOHN BRENDAN ,  HANDA ANKUR ,  DAVISON ANDREW ,  LEUTENEGGER STEFAN

IPC: G06F17/00 ,  G06K9/00 ,  G06K9/62

Abstract: Certain examples described herein enable semantically-labelled representations of a three-dimensional (3D) space to be generated from video data. In described examples, a 3D representation is a surface element or ‘surfel’ representation, where the geometry of the space is modelled using a plurality of surfaces that are defined within a 3D co-ordinate system. Object-label probability values for spatial elements of frames of video data may be determined using a two-dimensional image classifier. Surface elements that correspond to the spatial elements are identified based on a projection of the surface element representation using an estimated pose for a frame. Object-label probability values for the surface elements are then updated based on the object-label probability values for corresponding spatial elements. This results in a semantically-labelled 3D surface element representation of objects present in the video data. This data enables computer vision and/or robotic applications to make better use of the 3D representation.