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US 12,718,468 B2Granted
Visual localization
AssigneeNavVis GmbH
InventorsEckehard Steinbach, Robert Huitl, Georg Schroth, Sebastian Hilsenbeck
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Abstract
In an embodiment of the invention there is provided a method of visual localization, comprising: generating a plurality of virtual views, wherein each of the virtual views is associated with a location; obtaining a query image; determining the location where the query image was obtained on the basis of a comparison of the query image with said virtual views.
Claims4
A method of visual localization, the method comprising:
- obtaining one or more real reference images of an environment, wherein each of the reference images is associated with a viewpoint;
- transforming, using image based rendering, the reference images into novel views or image patches representing viewpoints of arbitrary camera positions and orientations in the environment separate from the viewpoints associated with the reference images;
- training an image retrieval system on features extracted from the novel views or image patches;
- obtaining at least one query image;
- extracting features from the at least one query image;
- and,
- determining the location where the query image was obtained using said trained image retrieval system and said features extracted from the at least one query image.
4 more elements
Dependencies are inferred from the claim text.