Abstract: A computer-implemented method of creating 2D annotation data for annotating one or more perception inputs comprises: receiving at the annotation computer system at least one captured frame comprising a set of 3D structure points, in which at least a portion of a structure component is captured; computing a reference position for the structure component within the frame; generating a 3D model for the structure component by selectively extracting 3D structure points of the frame based on the reference position; computing a projection of the 3D model into an image plane; and storing 2D annotation data of the computed projection in persistent computer storage for annotating the structure component within the image plane.

Abstract: In one aspect, a method of extracting depth information from a stereoscopic pair of images comprises: in a first depth extraction phase, determining a set of support points in 3D space for at least a first image of the stereoscopic image pair; using the set of support points to determine a 3D surface prior; and in a second depth extraction phase, computing, for the first image, a second-stage disparity map, by optimizing a second cost function defined so as to penalize deviation in the second-stage disparity map from the 3D surface prior. Disparity smoothness may be encouraged in at least one of the first and second depth extraction phases using a cost function that penalizes deviations in disparity between nearby pixels.