TOPOGRAPHIC MEMORY MODEL FOR LOCALIZATION, RETRIEVAL, AND NEW VIEW SYNTHESIS

摘要

A method for preparing a topographical memory map and for generating images therefrom includes capturing data from a series of images with an encoder, the data including memorized features and coordinates related to the memorized features, adding captured data from each image to a partially complete topographical memory map, and hallucinating features in areas where no images are captured. The method also includes combining the hallucinated features with the memorized features to define a complete topographical memory map, selecting a position and viewing angle within the complete topographical memory map, and extracting an image from the selected position and viewing angle using a decoder, the image including features captured in one or more of the series of images and hallucinated features such that the image is complete.