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

Claim 24:
25. A vehicle, the vehicle comprising:
a position sensor comprising either one or both of a global positioning system (GPS) and an indoor position sensor; and
one or more processors configured to:
with respect to each of a plurality of position samplings by the position sensor, repeat:
an obtaining, using a pose network, of respective image pose transformation matrices, and respective inverse image pose transformation matrices, between images of a plurality of input images obtained from a camera;
an obtaining of image pose information dependent on the respective image pose transformation matrices;
a calculating of a composite loss value dependent on the respective image pose transformation matrices, the respective inverse image pose transformation matrices, the plurality of input images, and respective depth images for the plurality of input images;
an obtaining of image position information dependent on a result of an accumulating of the respective image pose transformation matrices; and
a calculation of a pose loss value dependent on the obtained image position information and sensor position information from the position sensor; and

update training of the pose network dependent on a result of one of the repeated calculations of the composite loss value and the pose loss value for a corresponding one of the plurality of position samplings.