Automatic topology mapping processing method and system based on omnidirectional image information

An automatic topology mapping processing method comprising:

• acquiring, by an automatic topology mapping processing system, a plurality of images, wherein at least two of the plurality of images include a common area in which a common space is captured;
• extracting, by the automatic topology mapping processing system, features of the images from each of the images through a feature extractor using a neural network;
• and
• determining, by the automatic topology mapping processing system, mapping images of the images based on the features extracted from each of the images;
• wherein the determining, by the automatic topology mapping processing system, mapping images of the images based on the features extracted from each of the images comprises:
• constructing a database (DB) containing vectors representing the features extracted from each of the images;
• performing a vector search using a vector set that includes at least some of first vectors corresponding to first features extracted from a predetermined first image among the images from the constructed DB, wherein only the features corresponding to a predefined area in the image are input into the vector search to identify a positional relation of the plurality of images, and acquiring a closest vector set to the vector set;
• and
• determining a second image corresponding to the closest vector set as a mapping image of the first image.