The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 03, 2022
Filed:
Sep. 13, 2021
National University of Defense Technology, Hunan, CN;
Jie Jiang, Hunan, CN;
Xing Xin, Hunan, CN;
Lai Kang, Hunan, CN;
Yin Zou, Hunan, CN;
Yujie Fang, Hunan, CN;
Yingmei Wei, Hunan, CN;
Yuxiang Xie, Hunan, CN;
NATIONAL UNIVERSITY OF DEFENSE TECHNOLOGY, Changsha, CN;
Abstract
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.