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Image location marking and identifying method based on view overlapping

An image and field of view technology, applied in the field of image location labeling and recognition based on overlapping fields of view, can solve the problems of difficult model training, inability to accurately obtain positive samples of query images, etc., and achieve the effect of high recall rate

Pending Publication Date: 2022-07-22
INST OF INFORMATION ENG CHINESE ACAD OF SCI
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Problems solved by technology

Therefore, only using GPS annotations cannot accurately obtain positive samples of query images, which brings difficulties to model training

Method used

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  • Image location marking and identifying method based on view overlapping
  • Image location marking and identifying method based on view overlapping
  • Image location marking and identifying method based on view overlapping

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Embodiment Construction

[0041] In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, the following embodiments are given and described in detail with the accompanying drawings as follows.

[0042] The embodiment of the present invention proposes an image location labeling and recognition method based on overlapping fields of view. First, multi-threshold screening is used to mine potential positive samples of the query image, then the multi-scale sub-regions of the image are cropped and the similarity between the image regions is calculated. The regional similarity filters the pseudo-positive samples and identifies the overlapping regions of the field of view between the query image and the real positive samples, and constructs field-of-view overlapping annotations for the dataset. Further use the dataset with overlapping visual field annotations to train the model, use NetVLAD to extract the features of images or regions, and calcula...

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Abstract

The invention discloses an image location labeling and recognition method based on view overlapping, belongs to the technical field of crossing of computer vision and robots, and aims to construct richer labeling information for an existing image location recognition data set and directly obtain a positive sample of a query image through the labeling. And a model is trained by using the more difficult positive samples, so that more robust image features can be learned.

Description

technical field [0001] The invention belongs to the cross technical field of computer vision and robots, and in particular relates to an image location labeling and identification method based on overlapping visual fields, which can identify the location of a query image in an image database. Background technique [0002] Visual Place Recognition (VPR) is one of the important tasks in the field of computer vision and robotics. It is widely used in technologies such as real-time localization and map construction, virtual reality, and autonomous driving. Its goal is to identify the visited places. The location of the query image is obtained, so as to further predict the pose of the robot or moving body based on visual navigation. The visited location is usually represented as a location-annotated image database. During recognition, an image related to the query image is found in the database, and its location is estimated as the location of the query image. Therefore, image l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/10G06V10/20G06V10/40G06V10/74G06V10/82G06V10/77G06N3/04G06N3/08G06F16/535G06F16/29
CPCG06N3/08G06F16/535G06F16/29G06N3/045G06F18/2135G06F18/22
Inventor 王蕊祁俊昆
Owner INST OF INFORMATION ENG CHINESE ACAD OF SCI
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