US 12,450,759 B2
Image registration based on key-point matching
Volodya Grancharov, Solna (SE); Manish Sonal, Sollentuna (SE); Alfredo Fanghella, Stockholm (SE); and Sigurdur Sverrisson, Kungsängen (SE)
Assigned to Telefonaktiebolaget LM Ericsson (publ), Stockholm (SE)
Appl. No. 17/774,161
Filed by Telefonaktiebolaget LM Ericsson (publ), Stockholm (SE)
PCT Filed Nov. 4, 2019, PCT No. PCT/EP2019/080028
§ 371(c)(1), (2) Date May 4, 2022,
PCT Pub. No. WO2021/089107, PCT Pub. Date May 14, 2021.
Prior Publication US 2022/0366580 A1, Nov. 17, 2022
Int. Cl. G06T 7/33 (2017.01); G06V 10/44 (2022.01)
CPC G06T 7/33 (2017.01) [G06V 10/443 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method for image registration, the method being performed by an image registration entity, the method comprising:
obtaining a matching between a first set of objects in a first image of a scene and a second set of objects in a second image of the scene, the first set of objects and the second set of objects being extracted using visual object detection in the first image and in the second image, respectively;
obtaining a first set of key-points as extracted from the first image and a second set of key-points as extracted from the second image;
performing image registration by matching the first set of key-points to the second set of key-points, wherein those of the first set of key-points that are mapped to objects in the first set of objects and that have matching objects in the second set of objects are restricted to only be matched to those of the second set of key-points that are mapped to any of the matching objects in the second set of objects; and
applying the matching between key-points resulting from the image registration when constructing an image representation of the scene,
wherein any of those of the first set of key-points that are not mapped to any object in the first set of objects are restricted to only be matched to those of the second set of key-points that are not mapped to any of the matching objects in the second set of objects.