US 12,169,945 B2
Method and apparatus for estimating pose of device
Zhihua Liu, Beijing (CN); Hongseok Lee, Seoul (KR); Qiang Wang, Beijing (CN); Yuntae Kim, Suwon-si (KR); and Kuan Ma, Beijing (CN)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed by SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed on Mar. 9, 2022, as Appl. No. 17/690,219.
Claims priority of application No. 202110257474.4 (CN), filed on Mar. 9, 2021; and application No. 10-2021-0162793 (KR), filed on Nov. 23, 2021.
Prior Publication US 2022/0292715 A1, Sep. 15, 2022
Int. Cl. G06T 7/73 (2017.01); G06V 10/42 (2022.01); G06V 10/44 (2022.01); G06V 10/74 (2022.01)
CPC G06T 7/74 (2017.01) [G06V 10/42 (2022.01); G06V 10/44 (2022.01); G06V 10/761 (2022.01)] 16 Claims
OG exemplary drawing
 
1. A method of estimating a pose of a device, the method comprising:
identifying a similar key frame that is similar to a current frame collected by the device from a key frame set, through an image feature extraction model that is trained by obtaining a global feature and a first set of local features from an original training image, obtaining a second set of local features from a modified training image that is acquired by modifying the original training image, creating a local feature pair by mapping the first set of local features to the second set of local features through self-supervised learning, and updating parameters of the image feature extraction model based on the global feature, the first set of local features, and the local feature pair;
obtaining data-related information between image frames based on a feature matching relationship between the current frame and the similar key frame; and
obtaining the pose of the device based on the data-related information.