METHOD AND APPARATUS FOR LOCALIZATION BASED ON IMAGES AND MAP DATA
First Claim
Patent Images
1. A localization method, comprising:
- generating a first image of an object from an input image;
generating a second image to project the object with respect to candidate localization information of a device, based on map data comprising a position of the object;
pooling, from the first image, feature values corresponding to vertices in the second image; and
determining a score of the candidate localization information based on the pooled feature values.
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Abstract
Localization apparatuses and methods are disclosed where a localization apparatus extracts a feature of an object from an input image, generates an image in which the object is projected with respect to localization information of a device based on map data, and evaluates the localization information based on feature values corresponding to vertices included in a projection image.
7 Citations
37 Claims
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1. A localization method, comprising:
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generating a first image of an object from an input image; generating a second image to project the object with respect to candidate localization information of a device, based on map data comprising a position of the object; pooling, from the first image, feature values corresponding to vertices in the second image; and determining a score of the candidate localization information based on the pooled feature values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A localization method, comprising:
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generating a first image of an object from an input image; generating a second image to project the object with respect to candidate localization information of a device, based on map data comprising a position of the object; segmenting the second image into regions; and determining degree of freedom (DOF) values included in the candidate localization information through matching between the first image and the regions. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. A localization apparatus, comprising:
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a processor configured to; generate a first image of an object from an input image, generate a second image to project the object with respect to candidate localization information of a device, based on map data comprising a position of the object, pool, from the first image, feature values corresponding to vertices in the second image, and determine a score of the candidate localization information based on the pooled feature values.
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31. A localization apparatus, comprising:
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a processor configured to; generate a first image of an object from an input image, generate a second image to project the object with respect to candidate localization information of a device, based on map data comprising a position of the object, segment the second image into regions, and determine degree of freedom (DOF) values included in the candidate localization information through matching between the first image and the regions.
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32. A localization apparatus comprising:
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a sensor disposed on a device, and being configured to sense one or more of an image and candidate localization information of the device; a processor configured to generate a first image of an object from the image, generate a second image to project the object with respect to the candidate localization information, based on map data comprising a position of the object, determine a score of the candidate localization information based on pooling, from the first image, feature values corresponding to vertices in the second image, and determine localization information of the device based on the score; and a head-up display (HUD) configured to visualize a virtual object on the map data based on the determined localization information. - View Dependent Claims (33, 34, 35, 36, 37)
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Specification