Relocation and loopback detection method based on depth map coding
A technology of depth map coding and detection method, which is applied in the field of relocation and loop closure detection based on depth map coding, and can solve the problems of increased error and failure of relocation and loop closure detection.
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment
[0071] 1. Preliminary preparation
[0072] According to the size of the depth map taken by the camera, determine the number of ferns to be selected N, randomly and uniformly select N ferns on the picture, and save all the calculated coordinates of ferns in order in the form of a vector α={α 0 ,α 1 ,α 2 ,α 3 ,…},Α j Is the coordinates of a single fern.
[0073] Define a class info, the class consists of N*1 matrix members, pose information [R 3*3 |t 3*1 ] Membership.
[0074] Define a two-dimensional vector counts to count the search results of ferns in each frame relative to structure three:
[0075] ids12 … count 000
[0076] The first dimension represents the id corresponding to the key frame, and the second dimension represents the number of times the fern code value of the key frame corresponding to the id is the same as the fern code value in the current frame retrieval process.
[0077] Use the first frame of the video stream as the first key frame, generate id, and initializ...
PUM
Abstract
Description
Claims
Application Information
- R&D Engineer
- R&D Manager
- IP Professional
- Industry Leading Data Capabilities
- Powerful AI technology
- Patent DNA Extraction
Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.
© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com