Visual localization using a three-dimensional model and image segmentation

An apparatus comprising at least one processor and at least one memory storing computer program code, the at least one memory and the computer program code configured to, with the processor, cause the apparatus to at least:

• receive a first image captured by an image capture device of a mobile apparatus, the first image corresponding to surroundings of the mobile apparatus, wherein a first plurality of artificial images are accessible to the processor, each artificial image of the first plurality of artificial images respectively being a two-dimensional projection of a three-dimensional model from a perspective of an image position and image pose;
• determine one or more first image attributes respectively for one or more sections of the first image;
• identify at least one artificial image of the first plurality of artificial images having one or more artificial image attributes that substantially match the one or more first image attributes for corresponding sections of the at least one artificial image and the first image;
• and
• determine a location and/or pose of the mobile apparatus based at least in part on the image position and/or the image pose associated with the identified at least one artificial image.

A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code instructions stored therein, the computer-executable program code instructions comprising program code instructions configured to, when executed by a processor of an apparatus, cause the apparatus to:

• receive a first image captured by an image capture device of a mobile apparatus, the first image corresponding to surroundings of the mobile apparatus, wherein a first plurality of artificial images are accessible to the processor, each artificial image of the first plurality of artificial images respectively being a two-dimensional projection of a three-dimensional model from a perspective of an image position and image pose;
• determine one or more first image attributes respectively for one or more sections of the first image;
• identify at least one artificial image of the first plurality of artificial images having one or more artificial image attributes that substantially match the one or more first image attributes for corresponding sections of the at least one artificial image and the first image;
• and
• determine a location and/or pose of the mobile apparatus based at least in part on the image position and/or the image pose associated with the identified at least one artificial image.