Image matching
First Claim
Patent Images
1. A method performed by a system, the method comprising:
- comparing a query image received from a mobile device with a plurality of planes stored in a memory, wherein each of the plurality of planes is a planar region of an imaged area of an environment;
matching the query image with at least one of the plurality of planes; and
determining a location of the mobile device based on the matching of the query image with the at least one plane without using non-planar structures in the query image,wherein comparing the query image with the plurality of planes includes executing a warping function between the query image and the plurality of planes to determine at least a first matching score for matching the query image with the at least one plane.
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Abstract
A method performed by a system. The method includes comparing at least one query image received from a mobile device with a plurality of planes stored in a memory, matching the query image with at least one of the plurality of planes, and determining a location based on the matching of the query image with the at least one plane. Comparing the at least one query image with the plurality of planes includes executing a warping function between the at least one query image and the plurality of planes to determine at least a first matching score for matching the at least one query image with at least one of the plurality of planes.
9 Citations
17 Claims
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1. A method performed by a system, the method comprising:
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comparing a query image received from a mobile device with a plurality of planes stored in a memory, wherein each of the plurality of planes is a planar region of an imaged area of an environment; matching the query image with at least one of the plurality of planes; and determining a location of the mobile device based on the matching of the query image with the at least one plane without using non-planar structures in the query image, wherein comparing the query image with the plurality of planes includes executing a warping function between the query image and the plurality of planes to determine at least a first matching score for matching the query image with the at least one plane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system comprising:
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a computing device including a control unit to receive a query image acquired by a mobile device, compare the query image to a plurality of planes stored in a memory by executing a warping function and performing a pixel domain validation analysis, wherein each of the plurality of planes is a planar region of an imaged area of an environment, match the query image with at least one of the plurality of planes based on the warping function and the pixel domain validation analysis by computing a first matching score and a second matching score, and determine a location of the mobile device based on the matching of the query image with the at least one plane without using non-planar structures in the query image. - View Dependent Claims (12, 13, 14)
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15. A non-transitory machine-readable storage medium encoded with instructions executable by a processor of a system, the machine-readable storage medium comprising instructions to:
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construct a plurality of planes from a plurality of images and store the planes in a memory, wherein each of the plurality of planes is a planar region of an imaged area of an environment; process a query image received from a mobile device and identify feature descriptors of the query image; compare the query image with the plurality of planes by using geometric analysis of matching feature descriptors between the query image and the plurality of planes; identify a match between the query image and at least one of the plurality of planes; compute a matching score for the match between the query image and the at least plane by performing pixel domain validation; and determine a location of the mobile device based on a highest matching score without using non-planar structures in the query image. - View Dependent Claims (16, 17)
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Specification