Method for constructing positioning db using clustering of local features and apparatus for constructing positioning db

Abstract

A method of constructing a positioning DB performed by an apparatus for constructing the positioning DB, may comprise: extracting a plurality of local features from a plurality of keyframes capturing a predetermined region; determining an individual 3D keypoint including information on a 3-dimensional position of each of the plurality of local features; clustering the plurality of local features into a plurality of clusters based on the individual 3D keypoint; determining a representative position information representatively indicating a position of each of the plurality of clusters by using the individual 3D keypoint of the local feature included in each of the plurality of clusters; and storing, for each of the plurality of keyframes, an cluster identification for identifying each of the plurality of clusters and the representative position information of each of the plurality of clusters in the positioning DB.