METHOD, APPARATUS, AND SYSTEM FOR GENERATING FEATURE CORRESPONDENCE BETWEEN IMAGE VIEWS
First Claim
1. A computer-implemented method for determining a feature correspondence between image views comprising:
- retrieving a top down image for an area of interest;
determining a ground level camera pose path for the area of interest;
selecting a portion of the top down image that corresponds to a geographic area within a distance threshold from the ground level camera pose path;
processing the portion of the top down image to identify a semantic feature;
determining a subset of camera poses of the ground level pose path that is within a sphere of visibility of the semantic feature;
retrieving one or more ground level images captured with the subset of camera poses; and
determining the feature correspondence of the semantic feature between the top down image and the one or more ground level images.
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Abstract
An approach is provided for determining a feature correspondence between image views. The approach, for example, involves retrieving a top down image for an area of interest and determining a ground level camera pose path for the area of interest. The approach also involves selecting a portion of the top down image that corresponds to a geographic area within a distance threshold from the ground level camera pose path, and then processing the portion of the top down image to identify a semantic feature. The approach further involves determining a subset of camera poses of the ground level pose path that is within a sphere of visibility of the semantic feature, and retrieving one or more ground level images captured with the subset of camera poses. The approach further involves determining the feature correspondence of the semantic feature between the top down image and the one or more ground level images.
15 Citations
20 Claims
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1. A computer-implemented method for determining a feature correspondence between image views comprising:
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retrieving a top down image for an area of interest; determining a ground level camera pose path for the area of interest; selecting a portion of the top down image that corresponds to a geographic area within a distance threshold from the ground level camera pose path; processing the portion of the top down image to identify a semantic feature; determining a subset of camera poses of the ground level pose path that is within a sphere of visibility of the semantic feature; retrieving one or more ground level images captured with the subset of camera poses; and determining the feature correspondence of the semantic feature between the top down image and the one or more ground level images. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus for determining a feature correspondence between image views comprising:
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at least one processor; and at least one memory including computer program code for one or more programs, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following, retrieve a top down image for an area of interest; determine a ground level camera pose path for the area of interest; select a portion of the top down image that corresponds to a geographic area within a distance threshold from the ground level camera pose path; process the portion of the top down image to identify a semantic feature; determine a subset of camera poses of the ground level pose path that is within a sphere of visibility of the semantic feature; retrieve one or more ground level images captured with the subset of camera poses; and determine the feature correspondence of the semantic feature between the top down image and the one or more ground level images. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer-readable storage medium for determining a feature correspondence between image views, carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform:
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retrieving a top down image for an area of interest; determining a ground level camera pose path for the area of interest; selecting a portion of the top down image that corresponds to a geographic area within a distance threshold from the ground level camera pose path; processing the portion of the top down image to identify a semantic feature; determining a subset of camera poses of the ground level pose path that is within a sphere of visibility of the semantic feature; retrieving one or more ground level images captured with the subset of camera poses; and determining the feature correspondence of the semantic feature between the top down image and the one or more ground level images. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification