Method and apparatus extracting feature points and image based localization method using extracted feature points
AssigneeSamsung Electronics Co., Ltd.
InventorsSung Hwan Ahn, Kyung Shik Roh, Suk June Yoon, Seung Yong Hyung
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Abstract
Disclosed herein are a method and apparatus for extracting feature points using hierarchical image segmentation and an image based localization method using the extracted feature points. An image is segmented using an affinity degree obtained using information observed during position estimation, new feature points are extracted from segmented areas in which registered feature points are not included, and position estimation is performed based on the new feature points. Accordingly, stable and reliable localization may be performed.
Claims17
A method of extracting feature points, the method comprising:
- acquiring, by a processor, an image obtained by photographing an environment of a mobile object;
- segmenting, by the processor, the image according to an affinity degree of the acquired image;
- and
- extracting, by the processor, the feature points necessary for position estimation from a plurality of segmented areas obtained by segmenting the image.
An apparatus for extracting feature points, the apparatus comprising:
- an image input unit to provide an image obtained by photographing an environment using a camera provided in a mobile object;
- and
- a localization unit to analyze the image acquired by the image input unit so as to perform position estimation,
- wherein the localization unit performs position estimation using feature points extracted from a plurality of areas which are segmented according to an affinity degree of the acquired image.
Dependencies are inferred from the claim text.