CPC G06V 10/44 (2022.01) [G01C 21/30 (2013.01); G06V 20/10 (2022.01); G01C 21/08 (2013.01)] | 14 Claims |
1. A method comprising:
at a device including one or more processors, non-transitory memory, and an image sensor:
determining a geographic location of the device;
determining one or more dominant road directions at the geographic location by obtaining map data indicating the location of roads in an area around the geographic location;
determining a plurality of vanishing points corresponding to a plurality of candidate headings and the one or more dominant road directions at the geographic location;
capturing, using the image sensor, an image at the geographic location;
detecting one or more lines within the image; and
determining a heading of the device by selecting one of the plurality of candidate headings based on the one or more lines and the plurality of vanishing points.
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