Camera pose refinement with ground-to-satellite image registration

Abstract

A computer that includes a processor and a memory, the memory includes instructions executable by the processor to estimate a relative rotation between a ground view image and an aerial view image with a rotation estimator. A ground feature map and a confidence map corresponding to the ground view image are projected to an aerial feature map corresponding to the aerial view image according to the relative rotation to create a projected overhead-view feature map. A translation difference is determined between the projected overhead-view feature map and the aerial feature map using spatial correlation. A high-definition estimated three degree-of-freedom pose of a ground view camera is determined based on the relative rotation and the translation difference.

Dependencies are inferred from the claim text.