Device and method with simultaneous implementation of localization and mapping

A processor-implemented simultaneous localization and mapping method, the method comprising:

• estimating an initial pose based on captured color images and captured depth images;
• constructing a three-dimensional map based on the captured depth images and the captured color images;
• and
• determining a final pose based on the initial pose and the three-dimensional map;
• wherein the estimating of the initial pose further comprises selectively estimating the initial pose based on matched line segment features.

An electronic device configured to perform simultaneous localization and mapping (SLAM), the electronic device comprising:

• one or more cameras configured to capture a first color image and a first depth image of an environment at a first time period;
• and
• a processor configured to:
• extract feature points from the first color image, and estimate an initial pose based on matched points of the extracted feature;
• construct a three-dimensional map based on the first color image and the first depth image;
• construct an updated three-dimensional map, based on a second color image and a second depth image of the environment captured at a second time period, by updating positional information of points, of the three-dimensional map, based on spatial-temporal confidence information determined in the second time period for the points;
• and
• determine a final pose based on the initial pose and the updated three-dimensional map.