VISUAL LOCALIZATION USING A THREE-DIMENSIONAL MODEL AND IMAGE SEGMENTATION

摘要

An apparatus receives a first image captured by an image capture device of a mobile apparatus. The first image corresponds to surroundings of the mobile apparatus. Each artificial image of a first plurality of artificial images respectively is a two-dimensional projection of a three-dimensional model from a perspective of an image position and image pose. The apparatus determines one or more first image attributes respectively for one or more sections of the first image; identifies at least one artificial image of the first plurality of artificial images that has one or more artificial image attributes that substantially match the one or more first image attributes for corresponding sections of the at least one artificial image and the first image; and determines a location and/or pose of the mobile apparatus based at least in part on the image position and/or the image pose associated with the at least one artificial image.