Method and apparatus with global localization
US12175706B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 21, 2022 |
| Grant date | Dec 24, 2024 |
| Priority date | — |
| Expiry date | Apr 6, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method with global localization includes: extracting a feature by applying an input image to a first network; estimating a coordinate map corresponding to the input image by applying the extracted feature to a second network; and estimating a pose corresponding to the input image based on the estimated coordinate map, wherein either one or both of the first network and the second network is trained based on either one or both of: a first generative adversarial network (GAN) loss determined based on a first feature extracted by the first network based on a synthetic image determined by three-dimensional (3D) map data and a second feature extracted by the first network based on a real image; and a second GAN loss determined based on a first coordinate map estimated by the second network based on the first feature and a second coordinate map estimated by the second network based on the second feature.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.