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Method and apparatus extracting feature points and image based localization method using extracted feature points

机译:提取特征点的方法和装置以及使用提取的特征点的基于图像的定位方法

摘要

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.
机译:本文公开了一种用于使用分层图像分割来提取特征点的方法和设备以及使用所提取的特征点的基于图像的定位方法。使用利用在位置估计期间观察到的信息获得的亲和度对图像进行分割,从其中不包括注册的特征点的分割区域中提取新特征点,并且基于新特征点执行位置估计。因此,可以执行稳定和可靠的定位。

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