US 12,106,514 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 Jul. 17, 2023, as Appl. No. 18/353,851.
Application 18/353,851 is a division of application No. 17/190,327, filed on Mar. 2, 2021, granted, now 11,748,905.
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 2024/0029301 A1, Jan. 25, 2024
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 portable electronic device, comprising:
a camera configured to capture one or more images of a 3D environment; and
at least one processor configured to execute computer-executable instructions,
wherein the computer-executable instructions comprise instructions for determining a pose of the camera with respect to a map based on the one or more images, comprising:
determining information about a combination of points and/or lines in the one or more images of the 3D environment;
sending, to a localization service, the information about the combination of points and/or lines in the one or more images to determine a pose of the camera with respect to the map; and
receiving, from the localization service, the pose of the camera with respect to the map represented as a rotation matrix and a translation matrix.