US 11,670,002 B2
Apparatus and method for image-based positioning to predict a camera pose from image data
Jinhee Son, Daejeon (KR); and Vladimirov Blagovest Iordanov, Changwon-si (KR)
Assigned to ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed by ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed on Dec. 10, 2020, as Appl. No. 17/117,402.
Claims priority of application No. 10-2019-0164419 (KR), filed on Dec. 11, 2019; and application No. 10-2020-0170716 (KR), filed on Dec. 8, 2020.
Prior Publication US 2021/0183094 A1, Jun. 17, 2021
Int. Cl. G06T 7/77 (2017.01); G06V 10/764 (2022.01); G06T 7/70 (2017.01); G06F 18/25 (2023.01); G06F 18/2413 (2023.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01)
CPC G06T 7/77 (2017.01) [G06F 18/24147 (2023.01); G06F 18/254 (2023.01); G06T 7/70 (2017.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01); G06T 2207/20081 (2013.01); G06T 2207/30244 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for image-based positioning to predict a camera pose from image data, comprising:
obtaining, by a positioning apparatus, a prediction result indicating which cell the image data belongs to among cells constituting a space for positioning, wherein the prediction result includes at least one among a first prediction result obtained through a hard classification-based learning classification network and a second prediction result obtained through a soft classification-based learning classification network;
obtaining, by the positioning apparatus, map information on the space for positioning by using a cell index selected based on the prediction result, wherein the map information includes minimum and maximum values of coordinates constituting a cell and a cell size for each cell index and the cell index is in a form of coordinates; and
calculating, by the positioning apparatus, a position of the image data based on the map information and outputting a corresponding camera pose,
wherein the position of the image data is based on at least one among a first position and a second position, and the first position is calculated according to map information obtained based on the first prediction result and the second position is calculated according to map information obtained based on the second prediction result.