US 11,935,264 B2
Pose estimation with limited correspondences
Jai Prakash, Cupertino, CA (US); Lina Maria Paz-Perez, Santa Clara, CA (US); and Oliver Thomas Ruepp, Baierbrunn (DE)
Assigned to APPLE INC., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Mar. 28, 2022, as Appl. No. 17/705,725.
Application 17/705,725 is a continuation of application No. 16/935,645, filed on Jul. 22, 2020, granted, now 11,315,280.
Claims priority of provisional application 62/906,458, filed on Sep. 26, 2019.
Prior Publication US 2022/0222848 A1, Jul. 14, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/73 (2017.01); G01V 7/00 (2006.01)
CPC G06T 7/73 (2017.01) [G01V 7/00 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A method comprising:
at a device including a non-transitory memory and one or more processors coupled with the non-transitory memory:
obtaining an image corresponding to a physical environment;
determining a correspondence between a set of pixels in the image and a spatial point in the physical environment; and
generating pose information as a function of the correspondence and a directional measurement.