Patent ID: 11941755
Assignee: NAVER LABS CORPORATION
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 12:
13. A visual localization system, comprising;
a data base configured to store a feature point map; and
a driving unit executed in a mobile device or an autonomous driving device, and configured to perform visual localization by using the feature point map and images captured by the mobile device or the autonomous driving device, wherein
the feature point map includes a plurality of feature points from a rendered image and is generated by using 3D model data and 3D coordinates,
the rendered image is an image of an outdoor space that is rendered from a viewpoint of a virtual camera using the 3D model data, the virtual camera having a virtual camera pose including a position and a posture to capture a point inside the outdoor space from a viewpoint of a sidewalk.
the 3D model data is generated from an image of an outdoor space captured from air, the image of the outdoor space including a plurality of images captured by a camera while the camera is moving,
the 3D coordinates are generated along the sidewalk based on lattice coordinates and vertical coordinates, the lattice coordinates being generated along the sidewalk positioned near a road by using two-dimensional (2D) map data of the outdoor space and the vertical coordinates being extracted from the 3D model data and corresponding to the lattice coordinates, and
the plurality of feature points include, for at least one structure included in the rendered image, at least two feature points of the structure.