首页>
外国专利>
SELF-SUPERVISED 3D KEYPOINT LEARNING FOR EGO-MOTION ESTIMATION
SELF-SUPERVISED 3D KEYPOINT LEARNING FOR EGO-MOTION ESTIMATION
展开▼
机译:自我监督的3D关键点学习自我运动估计
展开▼
页面导航
摘要
著录项
相似文献
摘要
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.
展开▼