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SYSTEMS AND METHODS FOR PERFORMING SELF-IMPROVING VISUAL ODOMETRY
SYSTEMS AND METHODS FOR PERFORMING SELF-IMPROVING VISUAL ODOMETRY
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机译:用于进行自我完善的视觉化的系统和方法
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摘要
In an example method of training a neural network for performing visual odometry, the neural network receives a plurality of images of an environment, determines, for each image, a respective set of interest points and a respective descriptor, and determines a correspondence between the plurality of images. Determining the correspondence includes determining one or point correspondences between the sets of interest points, and determining a set of candidate interest points based on the one or more point correspondences, each candidate interest point indicating a respective feature in the environment in three-dimensional space). The neural network determines, for each candidate interest point, a respective stability metric and a respective stability metric. The neural network is modified based on the one or more candidate interest points.
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