Verfahren für Visuelle Relokalisierungsaufgaben

Details

Veröffentlichungs-Nr.

EP4632676

Aktenzeichen

EP24169486

Anmeldetag

10. April 2024

Veröffentlichung

15. Oktober 2025

Rechtsraum

EP

IPC

G06T7/73

Abstract

A computer-implemented method for visual relocalization task is provided. The method comprises: (S10) generating an explicit 3D representation of a scene based on reference images of the scene taken from reference poses, each reference image comprising a global descriptor and valid keypoints having corresponding elements in the explicit 3D representation; (S20) learning an implicit 3D representation of the scene based on a neural radiance field model; (S30) determining candidate images matching the query image by comparing global descriptors of the reference images to a global descriptor of the query image; (S40) rendering a plurality of patches of the candidate images using the implicit 3D representation, the patches reflecting zones around the valid keypoints of the explicit 3D representation viewed from poses of candidate images; and (S50) determining the pose of the query image by matching local descriptors extracted from the rendered patches to local keypoints of the query image.

Anmelder

Firmen

TOYOTA JIDOSHA KABUSHIKI KAISHA
The Chancellor, Masters and Scholars of the University of Cambridge

Land

🇯🇵 Japan

Fachgebiete