CAMERA RE-LOCALIZATION BY ENHANCED NEURAL REGRESSION USING MIDDLE LAYER FEATURES IN AUTONOMOUS MACHINES

• Main Authors: MA LIWEI, LIU ZHONGXUAN
• Format: Patent
• Language: Chinese; English
• Published: 23.07.2019
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; CONTROLLING; COUNTING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

An apparatus for facilitating accurate camera re-localization in autonomous machines includes an image capturing device to capture an image of an object, selection/comparison logic to select a middlelayer from a plurality of convolutional network (CNN) layers, processing/training logic to process superiority of one or more original keyframes of the image with one or more layer-based keyframes associated with the middle layer, and execution/outputting logic to output a first result based on the one or more original keyframes if one of the one or more original keyframes is superior than the oneor more layer-based keyframes. A method, a machine-readable medium, a system, an apparatus, a computing device, and a communications device of the embodiments are also described. 一种用于促进自主机器中的准确相机重新定位的设备包含：图像捕获装置，用于捕获对象的图像；选择/比较逻辑，用于从多个卷积神经网络（CNN）层中选择中间层；处理/训练逻辑，用于用与所述中间层关联的一个或多个基于层的关键帧处理所述图像的一个或多个原始关键帧的优越性；以及执行/输出逻辑，用于如果所述一个或多个原始关键帧中的一个优于所述一个或多个基于层的关键帧，则输出基于所述一个或多个原始关键帧的第一结果。还描述了实施例的方法、机器可读介质、系统、设备、计算装置、和通信装置。