US 12,444,079 B2
System and method for visual localization
Natan Peterfreund, Kiryat Tivon (IL)
Assigned to Rafael Advanced Systems LTD., Haifa (IL)
Appl. No. 18/028,544
Filed by RAFAEL ADVANCED DEFENSE SYSTEMS LTD., Haifa (IL)
PCT Filed Sep. 29, 2021, PCT No. PCT/IL2021/051171
§ 371(c)(1), (2) Date Mar. 26, 2023,
PCT Pub. No. WO2022/070184, PCT Pub. Date Apr. 7, 2022.
Claims priority of application No. 277741 (IL), filed on Oct. 1, 2020.
Prior Publication US 2024/0257387 A1, Aug. 1, 2024
Int. Cl. G06T 7/73 (2017.01); G06F 18/2415 (2023.01); G06V 10/40 (2022.01); G06V 10/74 (2022.01); G06V 10/764 (2022.01); G06V 10/766 (2022.01); G06V 10/82 (2022.01); G06V 20/13 (2022.01); G06V 20/17 (2022.01)
CPC G06T 7/74 (2017.01) [G06F 18/2415 (2023.01); G06V 10/40 (2022.01); G06V 10/761 (2022.01); G06V 10/764 (2022.01); G06V 10/766 (2022.01); G06V 10/82 (2022.01); G06V 20/13 (2022.01); G06V 20/17 (2022.01); G06T 2207/10032 (2013.01); G06T 2207/20016 (2013.01); G06T 2207/20084 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A computer-implemented method for processing a geo-location of an aerial platform, comprising:
providing a set of classification stages, which is trained end-to-end to provide a set of cascade decisions, wherein each cascade decision is optimized for a different classification modality and for different spatial resolution;
receiving a geo-location query comprising an aerial sensor image, a reference bird's eye view image-map with coordinate system and sensor pose angles measures with respect to the coordinate system;
projecting the aerial sensor image onto the coordinate system of the reference bird's eye view image-map using the pose angles measures;
matching between the projected sensor image and corresponding image patches in the reference bird's eye view image-map, by applying said set of classification stages in accordance with features extraction from said images and similarity criteria;
generating a cascade sequencing, wherein a classification score is aggregated along a cascade path among said set of cascade stages;
generating a cascade decision at each stage along the cascade path based on the aggregated classification score and on defined decision logic between successive stages;
retrieving a geo-location associated with said aggregated classification decision; and
sending the retrieved geo-location to a geo-location requester.