US 12,094,184 B2
Contextual matching
Chen Huang, Cupertino, CA (US); Seyed Hesameddin Najafi Shoushtari, San Francisco, CA (US); Frankie Lu, Campbell, CA (US); Shih-Yu Sun, Cupertino, CA (US); and Joshua M. Susskind, San Jose, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Aug. 24, 2021, as Appl. No. 17/410,630.
Claims priority of provisional application 63/081,609, filed on Sep. 22, 2020.
Prior Publication US 2022/0092334 A1, Mar. 24, 2022
Int. Cl. G06V 10/75 (2022.01); G06V 10/34 (2022.01); G06V 10/40 (2022.01)
CPC G06V 10/751 (2022.01) [G06V 10/34 (2022.01); G06V 10/40 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method for relocalization, comprising:
obtaining, for a query image, a first set of keypoints;
determining a set of initial matches between the first set of keypoints and a set of reference keypoints in a reference image to obtain a first set of matched keypoints from the first set of keypoints and a second set of matched keypoints from the set of reference keypoints;
constructing a feature graph comprising a geometric spatial relationship between a first keypoint of the first set of matched keypoints and a second one or more keypoints of the first set of matched keypoints, wherein the second one or more keypoints correspond to spatial neighbors to the first keypoint;
identifying, from the reference image, a first reference keypoint from the second set of matched keypoints, wherein the first reference keypoint is matched to the first keypoint of the first set of matched keypoints;
identifying, from the reference image, a first reference keypoint from the second set of matched keypoints based on the first reference keypoint matching the first keypoint of the first set of matched keypoints;
comparing a geometry of the feature graph to a geometry of the reference feature graph; and
determining relocalization data for the query image based on the comparison.