GEOMETRIC MATCHING IN VISUAL NAVIGATION SYSTEMS

• Main Authors: CHARI MURALI RAMASWAMY, BRUNNER CHRISTOPHER, AHUJA DHEERAJ, RAMANANDAN ARVIND, DOS SANTOS MENDONCA PAULO RICARDO
• Format: Patent
• Language: Chinese; English
• Published: 04.01.2019
• Subjects: CALCULATING; COMPUTING; COUNTING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

A first map comprising local features and 3D locations of the local features is generated, the local features comprising visible features in a current image and a corresponding set of covisible features. A second map comprising prior features and 3D locations of the prior features may be determined, where each prior feature: was first imaged at a time prior to the first imaging of any of the localfeatures, and lies within a threshold distance of at least one local feature. A first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map is determined by comparing the first and second maps, where each local feature in the first subset corresponds to a distinct prior feature in the second subset. A transformation mapping a subset of local features to a subset of prior features is determined. 产生包括本地特征和所述本地特征的3D方位的第地图，所述本地特征包括当前图像中的可见特征和共同可见的特征的对应集合。可确定包括先前特征和所述先前特征的3D方位的第二地图，其中每先前特征：在先于所述本地特征中的任个的首次成像的时间被首次成像，并且处于至少个本地特征的阈值距离内。通