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    • 47. 发明授权
    • Position estimation device, position estimation method, and program
    • 位置估计装置,位置估计方法和程序
    • US09098744B2
    • 2015-08-04
    • US13698572
    • 2011-02-10
    • Noppharit TongprasitAram KawewongOsamu Hasegawa
    • Noppharit TongprasitAram KawewongOsamu Hasegawa
    • G06K9/48G06K9/00G06T7/00
    • G06K9/00624G06K9/00664G06T7/73
    • Disclosed is a position estimation device including a feature extraction unit that extracts invariant features from an input image, a matching unit that obtains matching between an input image and a registered place by referring to a database containing each registered place and invariant features in association, a similarity calculation unit that calculates a similarity with inclusion of a registered place near a selected registered place when the matching is a threshold or more, and a position identification unit that identifies the input image as a registered place when the similarity is a threshold or more. The feature extraction unit extracts local features from each input image being sequential images taken sequentially, selects features matched between the sequential images as sequential features, and calculates invariant features based on the sequential features. The number of sequential images is variable depending on the number of matched features.
    • 公开了一种位置估计装置,其包括从输入图像中提取不变特征的特征提取单元,通过参照包含关联的每个登记地点和不变特征的数据库,获得输入图像与登记地点之间的匹配的匹配单元, 相似度计算单元,当所述匹配是阈值以上时,计算包含所选登记地点附近的登记地点的相似度;以及位置识别单元,当所述相似度为阈值以上时,将所述输入图像识别为登记地点。 特征提取单元从每个输入图像中提取作为顺序拍摄的顺序图像的局部特征,选择在顺序图像之间匹配的特征作为顺序特征,并且基于顺序特征来计算不变特征。 顺序图像的数量根据匹配的特征数量而变化。