A method for learning depth-aware keypoints and associated descriptors from monocular video for monocular visual odometry is described. The method includes training a keypoint network and a depth network to learn depth-aware keypoints and the associated descriptors. The training is based on a target image and a context image from successive images of the monocular video. The method also includes lifting 2D keypoints from the target image to learn 3D keypoints based on a learned depth map from the depth network. The method further includes estimating a trajectory of an ego-vehicle based on the learned 3D keypoints.


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    Titel :

    SELF-SUPERVISED 3D KEYPOINT LEARNING FOR MONOCULAR VISUAL ODOMETRY


    Beteiligte:
    TANG JIEXIONG (Autor:in) / AMBRUS RARES A (Autor:in) / GUIZILINI VITOR (Autor:in) / PILLAI SUDEEP (Autor:in) / KIM HANME (Autor:in) / GAIDON ADRIEN DAVID (Autor:in)

    Erscheinungsdatum :

    2021-08-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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