Abstract: The present invention relates to the field of artificial intelligence, and in particular, to a camera pose estimation method and system, electronic equipment and a readable medium. The camera pose estimation method includes: acquiring an initial matching set between a first image and a second image, where the first image and the second image are images from different angles for a same scene; performing a mismatch removal operation on the initial matching set based on an optimization network to obtain an optimized matching set, where the optimization network is constructed based on a multi-stage geometric semantic attention network; and acquiring a camera pose result based on the optimized matching set. By removing mismatches, feature matching results between the first image and the second image are more accurate, and thus a more accurate result can be obtained when performing camera pose estimation.

Abstract: The disclosure relates to a membrane and method for its manufacture, the method including the steps of providing of an ultrafiltration membrane, and modification of the resultant ultrafiltration membrane to provide an asymmetric porous ion exchange membrane. The modification of the ultrafiltration membrane is typically carried out by exposing said ultrafiltration membrane to a first functional reagent to provide a cross-linked ultrafiltration membrane, and then exposing said cross-lined ultrafiltration membrane to a second functional reagent to introduce positive charged groups to produce an anion exchange membrane.

Abstract: The invention relates to a membrane and method for its manufacture, the method including the steps of (1) providing of an ultrafiltration membrane, and (2) modification of the resultant ultrafiltration membrane to provide an asymmetric porous ion exchange membrane. The modification of the ultrafiltration membrane is typically carried out by (i) exposing said ultrafiltration membrane to a first functional reagent to provide a cross-linked ultrafiltration membrane, and then (ii) exposing said cross-lined ultrafiltration membrane to a second functional reagent to introduce positive charged groups to produce an anion exchange membrane.