公开(公告)号：US20240303860A1

公开(公告)日：2024-09-12

申请号：US18600424

申请日：2024-03-08

Applicant: SRI International

Inventor： Niluthpol MITHUN ,  Kshitij MINHAS ,  Han-Pang CHIU ,  Taragay OSKIPER ,  Mikhail SIZINTSEV ,  Supun SAMARASEKERA ,  Rakesh KUMAR

IPC: G06T7/73

CPC classification number: G06T7/74 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: A method, apparatus, and system for providing orientation and location estimates for a query ground image include determining spatial-aware features of a ground image and applying a model to the determined spatial-aware features to determine orientation and location estimates of the ground image. The model can be trained by collecting a set of ground images, determining spatial-aware features for the ground images, collecting a set of geo-referenced images, determining spatial-aware features for the geo-referenced images, determining a similarity of the spatial-aware features of the ground images and the geo-referenced images, pairing ground images and geo-referenced images based on the determined similarity, determining a loss function that jointly evaluates orientation and location information, creating a training set including the paired ground images and geo-referenced images and the loss function, and training the neural network to determine orientation and location estimates of ground images without the use of 3D data.