CPC G06T 7/74 (2017.01) [G06V 10/42 (2022.01); G06V 10/44 (2022.01); G06V 10/761 (2022.01)] | 16 Claims |
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.
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