A method for learning depth-aware keypoints and associated descriptors from monocular video for ego-motion estimation 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 ego-motion from the target image to the context image based on the learned 3D keypoints.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Self-supervised 3D keypoint learning for ego-motion estimation


    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 :

    13.02.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G06V / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



    SELF-SUPERVISED 3D KEYPOINT LEARNING FOR EGO-MOTION ESTIMATION

    TANG JIEXIONG / AMBRUS RARES A / GUIZILINI VITOR et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Self-supervised 3D keypoint learning for monocular visual odometry

    TANG JIEXIONG / AMBRUS RARES A / GUIZILINI VITOR et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    SELF-SUPERVISED 3D KEYPOINT LEARNING FOR MONOCULAR VISUAL ODOMETRY

    TANG JIEXIONG / AMBRUS RARES A / GUIZILINI VITOR et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    KEYPOINT TRAJECTORY ESTIMATION USING PROPAGATION BASED TRACKING

    Fanani, Nolang / Ochs, Matthias / Bradler, Henry et al. | British Library Conference Proceedings | 2016


    Keypoint descriptor matching with context-based orientation estimation

    Bellavia, F. / Tegolo, D. / Valenti, C. | British Library Online Contents | 2014