US 11,756,229 B2
Localization for mobile devices
Bruno M. Sommer, Sunnyvale, CA (US); and Alexandre Da Veiga, San Francisco, CA (US)
Assigned to APPLE INC., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Oct. 4, 2021, as Appl. No. 17/493,359.
Application 17/493,359 is a continuation of application No. 16/575,712, filed on Sep. 19, 2019, granted, now 11,138,472.
Claims priority of provisional application 62/736,516, filed on Sep. 26, 2018.
Prior Publication US 2022/0101058 A1, Mar. 31, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/73 (2017.01); G06T 7/20 (2017.01); G06F 18/214 (2023.01)
CPC G06T 7/73 (2017.01) [G06F 18/2148 (2023.01); G06T 7/20 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a display device;
one or more image sensors;
one or more motion sensors; and
a processing apparatus configured to:
determine, based on motion data captured using the one or more motion sensors, a coarse localization pose, wherein the coarse localization pose includes a first estimate of position of the display device and a first estimate of orientation of the display device;
obtain one or more feature point maps by transmitting the coarse localization pose to a server and receiving the one or more feature point maps from the server, wherein the one or more feature point maps are associated with a position corresponding to the coarse localization pose and the one or more feature point maps from the server include a plurality of feature point maps received in succession that have been prioritized by the server based on distance from the position corresponding to the coarse localization pose;
determine, based on images captured using the one or more image sensors, a fine localization pose by localizing into a feature point map of the one or more feature point maps, wherein the fine localization pose includes a second estimate of position of the display device and a second estimate of orientation of the display device;
generate, based on the fine localization pose, a virtual object image including a view of a virtual object; and
display the virtual object image using the display device.