Unsupervised multi-view multi-modal intelligent glasses image registration method and device
A technology of smart glasses and image registration, applied in the computer field, can solve the problem that the camera cannot adapt to the actual scene, and achieve the effect of facilitating depth estimation
Active Publication Date: 2021-04-02
BEIJING SHENRUI BOLIAN TECH CO LTD +1
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[0002] Obtaining environmental images is an important condition for obstacle avoidance. Currently, there are many devices for obtaining images, such as RGB cameras, structured light cameras, and TOF cameras. Each camera has its own advantages and disadvantages and applicable scenarios. Using a single camera alone cannot Adapt to the actual scene, so in the obstacle avoidance scene, multiple cameras are usually used in combination
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[0020] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0021] figure 1 It shows the flow chart of the unsupervised multi-view multi-modal smart glasses image registration method provided by the embodiment of the present invention, which is combined with figure 1 with figure 2 The unsupervised multi-view multi-modal smart glasses image registration method provided by the embodiment of the present invention is described. The unsupervised multi-view multi-modal smart glasses image regis...
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The invention provides an unsupervised multi-view multi-modal intelligent glasses image registration method. The method comprises the steps of alternately training an auxiliary feature extraction network and a high-dimensional feature similarity discrimination network, and extracting same modal images and / or different modal images by using the auxiliary feature extraction network; training the high-dimensional feature similarity discrimination network by the same view angle and / or different view angle image pairs; fixing the high-dimensional feature similarity discrimination network and the auxiliary feature extraction network, training a registration network, the input of the registration network being an image to be registered, a template image and a difference image of the image to be registered and the template image, the height output by the auxiliary feature extraction network into which a middle layer is inserted being a feature vector, and the output being a dense registrationfield; and adopting the registration network and the auxiliary feature extraction network to predict the image to be registered to obtain a registered image.
Description
technical field [0001] The invention relates to the field of computers, in particular to an unsupervised multi-view multi-mode smart glasses image registration method and device. Background technique [0002] Obtaining environmental images is an important condition for obstacle avoidance. Currently, there are many devices for obtaining images, such as RGB cameras, structured light cameras, and TOF cameras. Each camera has its own advantages and disadvantages and applicable scenarios. Using a single camera alone cannot Adapt to the actual scene, so in the obstacle avoidance scene, multiple cameras are usually used in combination. However, due to the differences in placement, imaging time, and imaging forms of various cameras, the imaging results are quite different. Therefore, the fusion of multi-view and multi-modal image information is an important technical link in obstacle avoidance tasks. Contents of the invention [0003] The present invention aims to provide an unsu...
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Login to View More IPC IPC(8): G06T7/33G06K9/46G06K9/62G06N3/04G06N3/08
CPCG06T7/33G06N3/088G06V10/462G06N3/045G06F18/22
Inventor 王成高启宇李一鸣俞益洲乔昕
Owner BEIJING SHENRUI BOLIAN TECH CO LTD