METHOD FOR PROVIDING COMPUTER VISION Russian patent published in 2023 - IPC G06V10/40 G06V10/82 G06V20/10 G06V20/64 

FIELD: navigation of mobile robots for mobile applications.

SUBSTANCE: method performs scene understanding and object recognition. The method is proposed in which a point cloud is taken, reconstructed or obtained from depth sensors. First, this point cloud is represented as a voxel representation. The voxel representation is then processed with a 3D sparse convolutional "skeleton". Next, a 3D sparse convolution "neck" is used to extract features at different levels of the "skeleton". The resulting features are processed through a 3D sparse convolutional "head" with weights common to different feature levels. At each feature level, the "head" is responsible for predicting objects of a certain scale. The "head" gives the bounding box options for each position. Finally, all predictions received are filtered to select the most likely ones.

EFFECT: increasing the accuracy of object detection and reducing the scene processing time.

3 cl, 4 dwg, 4 tbl