GEOMETRIC MATCHING IN VISUAL NAVIGATION SYSTEMS
First Claim
1. A processor-implemented method on a user equipment (UE) comprising a camera, the method comprising:
- generating based, in part on an estimated camera pose for a current image frame, a first map comprising local features and 3D locations of the local features, wherein the local features comprise a plurality of visible features in the current image frame and a set of covisible features corresponding to the plurality of visible features;
determining a second map comprising prior features and 3D locations corresponding to the prior features, wherein each prior feature was first imaged at a time prior to the first imaging of any of the local features, and wherein each prior feature is within a threshold distance of at least one local feature;
determining, based on a comparison of the first map to the second map, a first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map, wherein each local feature in the first subset corresponds to a distinct prior feature in the second subset; and
determining a transformation, wherein the transformation maps the first subset of the local features to the second subset of the prior features.
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Abstract
A first map comprising local features and 3D locations of the local features is generated, the local features comprising visible features in a current image and a corresponding set of covisible features. A second map comprising prior features and 3D locations of the prior features may be determined, where each prior feature: was first imaged at a time prior to the first imaging of any of the local features, and lies within a threshold distance of at least one local feature. A first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map is determined by comparing the first and second maps, where each local feature in the first subset corresponds to a distinct prior feature in the second subset. A transformation mapping a subset of local features to a subset of prior features is determined.
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Citations
30 Claims
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1. A processor-implemented method on a user equipment (UE) comprising a camera, the method comprising:
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generating based, in part on an estimated camera pose for a current image frame, a first map comprising local features and 3D locations of the local features, wherein the local features comprise a plurality of visible features in the current image frame and a set of covisible features corresponding to the plurality of visible features; determining a second map comprising prior features and 3D locations corresponding to the prior features, wherein each prior feature was first imaged at a time prior to the first imaging of any of the local features, and wherein each prior feature is within a threshold distance of at least one local feature; determining, based on a comparison of the first map to the second map, a first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map, wherein each local feature in the first subset corresponds to a distinct prior feature in the second subset; and determining a transformation, wherein the transformation maps the first subset of the local features to the second subset of the prior features. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A User Equipment (UE) comprising:
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at least one image sensor capable of capturing images; and a processor coupled to the image sensor, wherein the processor is configured to; generate based, in part on an estimated camera pose for a current image frame, a first map comprising local features and 3D locations of the local features, wherein the local features comprise a plurality of visible features in the current image frame and a set of covisible features corresponding to the plurality of visible features; determine a second map comprising prior features and 3D locations corresponding to the prior features, wherein each prior feature was first imaged at a time prior to the first imaging of any of the local features, and wherein each prior feature is within a threshold distance of at least one local feature; determine, based on a comparison of the first map to the second map, a first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map, wherein each local feature in the first subset corresponds to a distinct prior feature in the second subset; and determine a transformation, wherein the transformation maps the first subset of the local features to the second subset of the prior features. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. An apparatus comprising:
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image sensing means capable of capturing images; means for generating based, in part on an estimated camera pose for a current image frame, a first map comprising local features and 3D locations of the local features, wherein the local features comprise a plurality of visible features in the current image frame and a set of covisible features corresponding to the plurality of visible features; means for determining a second map comprising prior features and 3D locations corresponding to the prior features, wherein each prior feature was first imaged at a time prior to the first imaging of any of the local features, and wherein each prior feature is within a threshold distance of at least one local feature; means for determining, based on a comparison of the first map to the second map, a first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map, wherein each local feature in the first subset corresponds to a distinct prior feature in the second subset; and means for determining a transformation, wherein the transformation maps the first subset of the local features to the second subset of the prior features. - View Dependent Claims (26, 27)
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28. A non-transitory computer readable medium comprising instructions, which
when executed by a processor, cause the processor to: -
generate based, in part on an estimated camera pose for a current image frame, a first map comprising local features and 3D locations of the local features, wherein the local features comprise a plurality of visible features in the current image frame and a set of covisible features corresponding to the plurality of visible features; determine a second map comprising prior features and 3D locations corresponding to the prior features, wherein each prior feature was first imaged at a time prior to the first imaging of any of the local features, and wherein each prior feature is within a threshold distance of at least one local feature; determine, based on a comparison of the first map to the second map, a first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map, wherein each local feature in the first subset corresponds to a distinct prior feature in the second subset; and determine a transformation, wherein the transformation maps the first subset of the local features to the second subset of the prior features. - View Dependent Claims (29, 30)
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Specification