National University of Defense Technology

Xing Xin

Yingmei Wei

Jie Jiang

Lai Kang

Yuxiang Xie

Yujie Fang

Yin Zou

The present disclosure provides a visual localization method and apparatus based on a semantic error image. The method includes: performing feature extraction for a target image, and obtaining at least one matching pair by performing feature matching for each extracted feature point and each three-dimensional point of a constructed three-dimensional scene model; obtaining a two-dimensional semantic image of the target image by performing semantic segmentation for the target image; and determining semantic information of each matching pair according to semantic information of each pixel of the two-dimensional semantic image; constructing a hypothesized pose pool including at least one hypothesized pose according to at least one matching pair; for each hypothesized pose, constructing a reprojection error image and a semantic error image; determining a hypothesized pose with a minimum reprojection error and a minimum semantic error as a pose estimation according to the reprojection error image and the semantic error image of each hypothesized pose. Optimal pose screening is performed using the semantic error image constructed based on a semantic error, so as to achieve good localization effect even in a case of significant change of a scene.

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Hunan, China

Xing Xin