Repeatability predictions of interest points
AssigneeNiantic, Inc.
InventorsDung Anh Doan, Daniyar Turmukhambetov, Soohyun Bae
Life of this patent
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Abstract
The present disclosure describes approaches for evaluating interest points for localization uses based on a repeatability of the detection of the interest point in images capturing a scene that includes the interest point. The repeatability of interest points is determined by using a trained repeatability model. The repeatability model is trained by analyzing a time series of images of a scene and determining repeatability functions for each interest point in the scene. The repeatability function is determined by identifying which images in the time series of images allowed for the detection of the interest point by an interest point detection model.
Claims20
A computer-implemented method, comprising:
- receiving an identification of a location of a client device;
- identifying a plurality of interest points located in the vicinity of the location of the client device;
- determining a repeatability score of each of the identified interest points;
- selecting a subset of interest points based on the determined repeatability score of each of the identified interest points;
- generate a summary map of a vicinity of the location of the client device based on the selected subset of interest points;
- and
- sending the summary map to the client device.
A non-transitory computer readable storage medium configured to store instructions, the instructions that, when executed by a processor, cause the processor to:
- receive an image of a scene;
- identify a set of interest points from the received image of the scene;
- determine a repeatability score of each interest point in the set of interest points;
- select a subset of interest points based on the determined repeatability of each of the identified interest points;
- search, in a map, one or more interest points from the selected subset of interest points;
- receive information about one or more interest points from the selected subset of interest points;
- and
- determine a pose of a camera that captured the image of the scene based on the received information about the one or more interest point.
A computer-implemented method comprising:
- receiving a time series of images of a scene across a set time period;
- identifying, using an interest point detection model, a set of interest points in the received time series of images;
- for each interest point in the set of interest points, determining a repeatability function by identifying images in the time series of images in which the interest point is detected by the interest point detection model;
- and
- training a repeatability model using information associated with one or more interest points from the set of interest points and corresponding repeatability functions of the one or more interest points.
Dependencies are inferred from the claim text.