A computer vision method for processing an omnidirectional image to extract understanding of a scene, the method comprising:receiving an omnidirectional image of a scene;mapping the omnidirectional image to a mesh on a three-dimensional polyhedron;convert the three dimensional polyhedron into a representation of a neighbourhood structure, wherein the representation of a neighbourhood structure represents vertices of said mesh and their neighbouring vertices; andprocessing the representation of the neighbourhood structure with a neural network processing stage to produce an output providing understanding of the scene,wherein the neural network processing stage comprising at least one module configured to perform convolution with a filter, aligned with a reference axis of the three-dimensional polyhedron.
Computer vision method and system