Extracting feature quantities from an image to perform location estimation
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United States of America Patent
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Jul 21, 2015
Grant Date -
Feb 20, 2014
app pub date -
Aug 13, 2013
filing date -
Aug 15, 2012
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Abstract
A feature extraction method for extracting a feature from an image includes receiving an image and measured acceleration data from a mobile device; obtaining a gravity vector in the image in a camera coordinate system based on the measured acceleration data; obtaining a vanishing point in the image in a vertical direction in a screen coordinate system using the gravity vector; obtaining differential vectors along two axes for each pixel in the screen coordinate system; obtaining a connection line vector connecting each of the pixels with the vanishing point; identifying a vertical edge based on determining that an angle formed by the differential vector and the connection line vector is within a certain threshold range; obtaining the sum of strengths of vertical edges and writing the sum in a predetermined variable array; extracting a keypoint based on the variable array; and calculating a feature quantity from the keypoint.
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