US 11,055,862 B2
Method, apparatus, and system for generating feature correspondence between image views
Anish Mittal, San Francisco, CA (US); Zhanwei Chen, Richmond, CA (US); and Joseph Kurian, Chicago, IL (US)
Assigned to HERE Global B.V., Eindhoven (NL)
Filed by HERE GLOBAL B.V., Eindhoven (NL)
Filed on Oct. 26, 2018, as Appl. No. 16/172,323.
Prior Publication US 2020/0134844 A1, Apr. 30, 2020
Int. Cl. G06T 7/33 (2017.01); B60R 11/04 (2006.01); G06N 20/00 (2019.01)
CPC G06T 7/33 (2017.01) [B60R 11/04 (2013.01); G06N 20/00 (2019.01); G06T 2207/10004 (2013.01); G06T 2207/10032 (2013.01); G06T 2207/30241 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for determining a feature correspondence between image views comprising:
retrieving a top down image for an area of interest;
determining a ground level camera pose path for the area of interest;
translating a threshold distance obtained from a trajectory of a ground level camera traveling through the area of interest into pixel coordinates of the top down image;
selecting a portion of the top down image that includes the pixel coordinates corresponding to a geographic area within the threshold distance;
processing the portion of the top down image to identify a semantic feature; determining a subset of camera poses of the ground level pose path that is within a sphere of visibility of the semantic feature;
retrieving one or more ground level images captured with the subset of camera poses; and
determining the feature correspondence of the semantic feature between the top down image and the one or more ground level images.