Visual localization method and apparatus based on semantic error image
US11321937B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 13, 2021 |
| Grant date | May 3, 2022 |
| Priority date | — |
| Expiry date | Sep 13, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10028
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The present disclosure provides a visual localization method and apparatus based on a semantic error image. The method includes: performing feature extraction for a target image, and obtaining at least one matching pair by performing feature matching for each extracted feature point and each three-dimensional point of a constructed three-dimensional scene model; obtaining a two-dimensional semantic image of the target image by performing semantic segmentation for the target image; and determining semantic information of each matching pair according to semantic information of each pixel of the two-dimensional semantic image; constructing a hypothesized pose pool including at least one hypothesized pose according to at least one matching pair; for each hypothesized pose, constructing a reprojection error image and a semantic error image; determining a hypothesized pose with a minimum reprojection error and a minimum semantic error as a pose estimation according to the reprojection error image and the semantic error image of each hypothesized pose. Optimal pose screening is performed using the semantic error image constructed based on a semantic error, so as to achieve good localizati…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.