SYSTEM AND METHODS FOR FEATURE SELECTION AND MATCHING

摘要

Systems and methods for feature selection and matching are provided. In certain embodiments, a method for matching features comprises extracting a first plurality of features from current image data acquired from at least one sensor and extracting a second plurality of features from a prior map, wherein the prior map represents an environment containing the navigation system independently of data currently acquired by the at least one sensor. The method also comprises identifying at least one first feature in the first plurality of features and at least one second feature in the second plurality of features that have associated two-dimensional representations; and identifying at least one corresponding pair of features by comparing a three-dimensional representations of the at least one first feature to a three-dimensional representation of the at least one second feature.

主权项

1. A navigation system, the system comprising:
at least one sensor configured to acquire a three-dimensional representation of the environment containing the navigation system; a memory unit configured to store executable instructions and a prior map of the environment, wherein the prior map represents the environment containing the navigation system independently of data currently acquired by the at least one sensor; and a processing unit configured to execute the executable instructions, wherein the executable instructions direct the processing unit to:
extract a first plurality of features from current image data;extract a second plurality of features from the prior map;compare two-dimensional representations of the first plurality of features to two-dimensional representations of the second plurality of features to find at least one first feature in the first plurality of features that associate with at least one second feature in the second plurality of features; andcompare a three-dimensional representations of the at least one first feature to a three-dimensional representation of the at least one second feature to identify at least one corresponding pair of features.