Method for constructing positioning DB using clustering of local features and apparatus for constructing positioning DB

An apparatus for constructing a positioning database (DB), the apparatus comprising:

• a memory in which a positioning DB constructing program for generating data to be constructed in the positioning DB is stored;
• and
• a processor configured to load the positioning DB constructing program from the memory, wherein the processor is configured to execute the positioning DB constructing program to:
• extract a plurality of local features from a plurality of keyframes capturing a predetermined region by executing a neural network, the plurality of keyframes captured using a light detection and ranging (LiDAR) sensor and a camera;
• determine an individual 3D keypoint including information on a 3-dimensional position of each of the plurality of local features;
• cluster the plurality of local features into a plurality of clusters to reduce a size of the positioning DB for storing in a memory by at least:
• determining a 2D keypoint indicating a position of each of the plurality of local features,
• determining the individual 3D keypoint of each of the plurality of local features and a covariance of the individual 3D keypoint using the 2D keypoint of each of the plurality of local features, and
• clustering the plurality of local features into the plurality of clusters using the covariance of the individual 3D keypoint of each of the plurality of local features;
• determine a representative position information representatively indicating a position of each of the plurality of clusters by using the individual 3D keypoint of the local feature included in each of the plurality of clusters;
• and
• store, for each of the plurality of keyframes, cluster identification for identifying each of the plurality of clusters and the representative position information of each of the plurality of clusters in the positioning DB, wherein each of the local features included in each of the plurality of keyframes corresponds to one of the plurality of clusters.