Patent ID: 11910092
Assignee: BLACK SESAME TECHNOLOGIES INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC H  B  G | IPC B  G  H

Claim 3:
4. The panoramic look-around view generation method of claim 1, wherein
the extracting a plurality of characteristic points of the look-around view at the previous time and the characteristic points of the look-around view at the current time using the ORB algorithm respectively comprises:
creating an improved quadtree to represent the actually extracted characteristic points, wherein each node of the improved quadtree has a physical space occupied by itself and a key point contained in the node;
equally dividing the key point from one to four according to the physical space, wherein a number of original key points are divided into sub-nodes where they are located, and the dividing of the improved quadtree will not stop until the number of nodes of the improved quadtree is greater than or equal to a number of target key points or the number of nodes of the improved quadtree does not change any more;
selecting the characteristic point with the highest score as the extracted characteristic point when the number of key points in the node of the quadtree is greater than 1.