US 11,748,905 B2
Efficient localization based on multiple feature types
Lipu Zhou, Sunnyvale, CA (US); Ashwin Swaminathan, Dublin, CA (US); Frank Thomas Steinbruecker, Mountain View, CA (US); and Daniel Esteban Koppel, San Jose, CA (US)
Assigned to Magic Leap, Inc., Plantation, FL (US)
Filed by Magic Leap, Inc., Plantation, FL (US)
Filed on Mar. 2, 2021, as Appl. No. 17/190,327.
Claims priority of provisional application 63/085,994, filed on Sep. 30, 2020.
Claims priority of provisional application 62/984,688, filed on Mar. 3, 2020.
Prior Publication US 2021/0279909 A1, Sep. 9, 2021
Int. Cl. G06T 7/73 (2017.01)
CPC G06T 7/74 (2017.01) [G06T 2207/30244 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of determining a pose of a camera with respect to a map based on one or more images captured with the camera, wherein the pose is represented as a rotation matrix and a translation matrix, the method comprising:
developing correspondences between a combination of points and/or lines in the one or more images and the map;
transforming the correspondences into a set of three second-order polynomial equations;
solving the set of equations for the rotation matrix; and
computing the translation matrix based on the rotation matrix.