Contextual Matching
AssigneeApple Inc.
InventorsChen Huang, Seyed Hesameddin Najafi Shoushtari, Frankie Lu, Shih-Yu Sun, Joshua M. Susskind
Life of this patent
Estimating the term…
Abstract
Feature descriptor matching is reformulated into a graph-matching problem. Keypoints from a query image and a reference image are initially matched and filtered based on the match. For a given keypoint, a feature graph is constructed based on neighboring keypoints surrounding the given keypoint. The feature graph is compared to a corresponding feature graph of a reference image for the matched keypoint. Relocalization data is obtained based on the comparison.
Claims20
A method for relocalization, comprising:
- obtaining, for a first image, a first set of keypoints;
- determining a set of initial matches between the first set of keypoints and a set of reference keypoints in a set of reference images;
- constructing a feature graph for the first image based on the initial matches;
- comparing the feature graph to one or more reference feature graphs from the set of reference images;
- and
- determining relocalization data based on the comparison.
A non-transitory computer-readable medium comprising computer-readable code executable by one or more processors to:
- obtain, for a first image, a first set of keypoints;
- determine a set of initial matches between the first set of keypoints and a set of reference keypoints in a set of reference images;
- construct a feature graph for the first image based on the initial matches;
- compare the feature graph to one or more reference feature graphs from the set of reference images;
- and
- determine relocalization data based on the comparison.
A system for relocalization, comprising:
- one or more processors;
- and
- one or more computer-readable medium comprising computer-readable code executable by the one or more processors to:
- obtain, for a first image, a first set of keypoints;
- determine a set of initial matches between the first set of keypoints and a set of reference keypoints in a set of reference images;
- construct a feature graph for the first image based on the initial matches;
- compare the feature graph to one or more reference feature graphs from the set of reference images;
- and
- determine relocalization data based on the comparison.
Dependencies are inferred from the claim text.