Guangzhou Xiaopeng Autopilot Technology Co., Ltd.

Yatong An

Cheng Lu

Chen Bai

Runyu Mao

A system for three-dimensional geometric guided student-teacher feature matching includes a multi-modal teacher model configured to determine feature matching between a pair of RGB-D images, each RGB-D image being a combination of a RGB image and its corresponding depth image; a mono-modal student model configured to determine feature matching from the pair of RGB images and the teacher model, the teacher model guiding the student model to learn RGB-induced depth information for the feature matching on both coarse and fine levels; a coarse-level knowledge transfer loss function for determining loss of transferring coarse-level matching knowledge from the teacher model to the student model; and a fine-level knowledge transfer loss function for determining loss of transferring fine-level matching knowledge from the teacher model to the student model, wherein the fine-level knowledge transfer loss function guides the student model to learn a fine-level prediction distribution with priority.

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Guangdong, China

Yatong An