Semantically aware keypoint matching
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United States of America
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Dec 31, 2024
Grant Date -
Feb 8, 2024
app pub date -
Oct 18, 2023
filing date -
Oct 18, 2023
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Abstract
A method for keypoint matching performed by a semantically aware keypoint matching model includes generating a semanticly segmented image from an image captured by a sensor of an agent, the semanticly segmented image associating a respective semantic label with each pixel of a group of pixels associated with the image. The method also includes generating a set of augmented keypoint descriptors by augmenting, for each keypoint of the set of keypoints associated with the image, a keypoint descriptor with semantic information associated with one or more pixels, of the semantically segmented image, corresponding to the keypoint. The method further includes controlling an action of the agent in accordance with identifying a target image having one or more first augmented keypoint descriptors that match one or more second augmented keypoint descriptors of the set of augmented keypoint descriptors.
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