Method and system for data generation

A data processing system comprising:

• an object database arranged to store a plurality of labeled three-dimensional objects;
• a scene generator operable to generate first candidate scene data indicating a position and orientation for each of a first candidate set of the labeled three-dimensional objects with respect to a given co-ordinate system;
• a reference scene database arranged to store reference scene data corresponding to a predetermined reference scene and indicating a position and orientation for each of a reference set of labeled three-dimensional objects with respect to the given co-ordinate system;
• a scene discriminator operable to process the first candidate scene data and the reference scene data to generate first discrimination data for estimating whether each of the first candidate scene data and the reference scene data corresponds to a predetermined reference scene;
• and
• a learner operable to update a set of parameter values for the scene discriminator using the first discrimination data,
• wherein:
• the scene generator is further operable to generate second candidate scene data indicating a position and orientation for each of a second candidate set of labeled three-dimensional objects with respect to the given co-ordinate system;
• the scene discriminator is further operable to process the second candidate scene data, using the updated set of parameter values for the scene discriminator, to generate second discrimination data for estimating whether the second candidate scene data corresponds to a predetermined reference scene;
• and
• the learner is further operable to update a set of parameter values for the scene generator using the second discrimination data.

A non-transient storage medium comprising machine-readable instructions which, when executed by a computer, cause the computer to perform the steps of:

• generating, using a scene generator, first candidate scene data indicating a position and orientation for each of a first candidate set of three-dimensional objects with respect to a given co-ordinate system;
• obtaining reference scene data corresponding to a predetermined reference scene and indicating a position and orientation for each of a reference set of three-dimensional objects with respect to the given co-ordinate system;
• processing the first candidate scene data and the reference scene data, using a scene discriminator, to generate first discrimination data for estimating whether each of the first candidate scene data and the reference scene data corresponds to a predetermined reference scene;
• updating a set of parameter values for the scene discriminator using the first discrimination data;
• generating, using the scene generator, second candidate scene data indicating a position and orientation for each of a second candidate set of three-dimensional objects with respect to the given co-ordinate system;
• processing the second candidate scene data, using the scene discriminator with the updated set of parameter values for the scene discriminator, to generate second discrimination data for estimating whether the second candidate scene data corresponds to a predetermined reference scene;
• and
• updating a set of parameter values for the scene generator using the second discrimination data.