CPC G06T 7/77 (2017.01) [G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01)] | 20 Claims |
1. A computer implemented method for pose estimation of an image sensor, the method comprising:
receiving an omnidirectional image of a scene captured by an image sensor;
using a trained neural network to generate a rotation equivariant feature map from said omnidirectional image of the scene; and
determining information relating to the pose of said image sensor when capturing the scene from said rotation equivariant feature map,
wherein the rotation equivariant feature map is a SO(3) indexed feature map.
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