Patent ID: 11880997
Assignee: SAMSUNG ELECTRONICS CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 10:
11. A processor-implemented method, comprising:
obtaining, using a depth network, a respective depth image for each of a plurality of successive input images obtained from a camera;
obtaining, using a pose network, respective image pose transformation matrices, and respective inverse image pose transformation matrices, between images, of the successive input images, at adjacent time points;
calculating a composite loss value based on respective comparisons for each time point of a corresponding input image and a composite image generated using a corresponding inverse image pose transformation matrix applied to a successive image of the corresponding image, and respective comparisons for each time point of the successive image and a composite image generated using a corresponding image pose transformation matrix applied to the corresponding image;
calculating a pose loss value based on a result of comparing image position information, obtained from a result of an accumulating of the image pose transformation matrices, and sensor position information obtained from a sensor comprising either one or both of a global positioning system (GPS) and an indoor position sensor; and
updating training of the depth network and the pose network based on a total loss value calculated from the composite loss value and the pose loss value.