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

Claim 19:
20. An apparatus, the apparatus 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:
obtain, using a depth network, a respective depth image for each of a plurality of successive input images obtained from a camera;
obtain, using a pose network, respective image pose transformation matrices between images, of the successive input images, at adjacent time points;
obtain, based on initial pose information and the respective image pose transformation matrices, image pose information for each of the adjacent times;
estimate final pose information dependent on the obtained image pose information for each of the adjacent times;
accumulate the image pose transformation matrices; and
calculate a pose loss value based on a result of comparing image position information, obtained from a result of the accumulating, and sensor position information obtained from the position sensor.