公开(公告)号：US20180089832A1

公开(公告)日：2018-03-29

申请号：US15280951

申请日：2016-09-29

申请人： INTEL CORPORATION

发明人： Haowei Liu ,  Daniel Joseph Mirota ,  Samer Samir Barakat ,  Mohamed Selim Ben Himane

IPC分类号： G06T7/00 ,  G06K9/62 ,  G06K9/46 ,  G06F17/30

CPC分类号： G06F17/30256 ,  G06F17/30253 ,  G06F17/30259 ,  G06K9/00664 ,  G06K9/4642 ,  G06K9/4676 ,  G06K9/6255 ,  G06T7/73 ,  G06T7/77 ,  G06T2207/20081 ,  G06T2207/30242 ,  G06T2207/30244

摘要： A system for place recognition is described herein. The system for place recognition comprises a plurality of sensors, a memory, and a processor. The memory is to store instructions and is communicatively coupled to the plurality of sensors. The processor is communicatively coupled to the plurality of sensors and the memory. When the processor is to execute the instructions, the processor is to detect features in a current frame and extract descriptors of the features of the current frame. The processor is also to generate a vocabulary tree using the descriptors and determine candidate key frames based on the vocabulary tree and detected features. The processor also is to perform place recognition via a first stage matching and a second stage matching.

公开(公告)号：US10217221B2

公开(公告)日：2019-02-26

申请号：US15280951

申请日：2016-09-29

申请人： INTEL CORPORATION

发明人： Haowei Liu ,  Daniel Joseph Mirota ,  Samer Samir Barakat ,  Mohamed Selim Ben Himane

IPC分类号： G06K9/00 ,  G06T7/00 ,  G06K9/46 ,  G06K9/62 ,  G06F17/30

摘要： A system for place recognition is described herein. The system for place recognition comprises a plurality of sensors, a memory, and a processor. The memory is to store instructions and is communicatively coupled to the plurality of sensors. The processor is communicatively coupled to the plurality of sensors and the memory. When the processor is to execute the instructions, the processor is to detect features in a current frame and extract descriptors of the features of the current frame. The processor is also to generate a vocabulary tree using the descriptors and determine candidate key frames based on the vocabulary tree and detected features. The processor also is to perform place recognition via a first stage matching and a second stage matching.