METHOD FOR OBTAINING A SET OF OBJECTS OF A THREE-DIMENSIONAL SCENE Russian patent published in 2023 - IPC G06T7/55 H04N5/00 G06F18/20 

FIELD: systems and methods for recognizing objects in a three-dimensional scene.

SUBSTANCE: invention relates to determining the true dimensions of objects in a three-dimensional scene from its two-dimensional images. A method for obtaining a set of objects of a three-dimensional scene includes simultaneously obtaining images of frames from stereo cameras, generating a disparity map by the method of semi-global stereo matching for each image point with pixel coordinates, determining the true coordinates of the specified point, generating a point depth map in true coordinates, and generating a two-dimensional image in grey scale, in which the brightness of a point depends on the true distance to the point, and the detection and identification of objects by one of the methods selected from the Viola-Jones method, the SSD-mobilenet neural network method and the Mask R-CNN neural network method, obtaining a set of objects of a three-dimensional scene. In this case, the disparity map is formed by the method of semi-global stereo matching. The true coordinates of the point are determined taking into account the focal lengths of the cameras of the stereo camera and the distance between them. The brightness of a point is assumed to be zero if the true distance to it is outside the specified range.

EFFECT: increase in the accuracy of recognition of objects of complex and random colours, transparent objects, complexly coloured objects against a complexly coloured background, including such patterns and colours.

10 cl, 1 dwg