Indoor localization based on detection of building-perimeter features

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

• identify, within an image captured by an imaging device of a mobile device, a geometric plane defined by a building-perimeter feature represented by the image, the building-perimeter feature being part of or connected to an exterior wall of a building within which the mobile device is located;
• determine one or more of an orientation or a location of the mobile device with respect to the identified geometric plane defined by the building-perimeter feature;
• based at least in part on sensor data captured by one or more sensors of the mobile device, determine an orientation of the mobile device with respect to a defined geographical direction;
• obtain or access a building model for a building within which the mobile device is located, wherein the building model defines one or more perimeter portions of the building, each respective perimeter portion of the one or more perimeter portions corresponding to one or more respective exterior walls of the building;
• based at least in part on (i) one or more of the orientation or the location of the mobile device with respect to the identified geometric plane defined by the building-perimeter feature and (ii) the orientation of the mobile device with respect to the defined geographical direction, identify a particular perimeter portion of the one or more perimeter portions that corresponds to the building-perimeter feature represented by the image;
• and
• determine or provide location information that corresponds to or is based on the particular perimeter portion that was identified, the location information representing where the mobile device is or was located substantially when the image was captured.

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

• identify, within an image captured by an imaging device of a mobile device, a geometric plane defined by a building-perimeter feature represented by the image, the building-perimeter feature being part of or connected to an exterior wall of a building within which the mobile device is located;
• determine one or more of an orientation or a location of the mobile device with respect to the identified geometric plane defined by the building-perimeter feature;
• based at least in part on sensor data captured by one or more sensors of the mobile device, determine an orientation of the mobile device with respect to a defined geographical direction;
• obtain or access a building model for a building within which the mobile device is located, wherein the building model defines one or more perimeter portions of the building, each respective perimeter portion of the one or more perimeter portions corresponding to one or more respective exterior walls of the building;
• based at least in part on (i) one or more of the orientation or the location of the mobile device with respect to the identified geometric plane defined by the building-perimeter feature and (ii) the orientation of the mobile device with respect to the defined geographical direction, identify a particular perimeter portion of the one or more perimeter portions that corresponds to the building-perimeter feature represented by the image;
• and
• determine or provide location information that corresponds to or is based on the particular perimeter portion that was identified, the location information representing where the mobile device is or was located substantially when the image was captured.