Patent ID: 11865724
Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 1:
2. The method of claim 1, wherein the controlling the mobile machine to move according to the objective image features corresponding to the trajectory comprises:
obtaining, through the camera of the mobile machine, a current image of the referenced target captured at a current pose of the mobile machine;
obtaining a plurality of feature points of the current image matched with a plurality of feature points of the desired image;
obtaining a plurality of objective feature points by projecting the plurality of obtained feature points onto a virtual unitary sphere;
obtaining a plurality of current image features of the current image using the plurality of obtained objective feature points;
calculating a difference between the current image features of the current image and the objective image features corresponding to the current pose; and
controlling the mobile machine to move according to the calculated difference.