Apparatus and method for localisation and mapping

A data processing method comprising:

• receiving a plurality of images of an environment captured from respective different viewpoints;
• receiving a user input specifying one or more regions in at least one of the plurality of images to be excluded from analysis;
• excluding the one or more regions from the at least one of the plurality of images;
• after the exclusion, detecting a plurality of features points in each one of the plurality of images, wherein at least one feature point is detected in a region of the at least one image that has not been excluded;
• associating image information with each one of the plurality of feature points indicative of an image property for the one of the plurality of feature points so detected within the one of the plurality of captured images after exclusion, each one of the plurality of feature points representing a candidate landmark point for mapping the environment;
• selecting a subset of the plurality of candidate landmark points as a plurality of landmark points, the subset of the plurality of candidate landmark points to be used as a plurality of landmark points for use in generating a map;
• and
• generating, for the environment, the map comprising the plurality of landmark points, wherein each one of the plurality of landmark points included in the map is defined by a three dimensional position and the associated image information for that one of the plurality of landmark points.

A non-transitory, computer readable storage medium containing computer software which, when executed by a computer, causes the computer to carry out a method comprising:

• receiving a plurality of images of an environment captured from respective different viewpoints;
• receiving a user input specifying one or more regions in at least one of the plurality of images to be excluded from analysis;
• excluding the one or more regions from the at least one of the plurality of images;
• after the exclusion, detecting a plurality of features points in each one of the plurality of captured images, wherein at least one feature point is detected in a region of the at least one image that has not been excluded;
• associating image information with each one of the plurality of feature points indicative of an image property for the one of the plurality of feature points so detected within the one of the plurality of captured images after exclusion, each one of the plurality of feature points representing a candidate landmark point for mapping the environment;
• selecting a subset of the plurality of candidate landmark points, the subset of the plurality of candidate landmark points as a plurality of landmark points for use in generating a map;
• and
• generating, for the environment, the map comprising the plurality of landmark points, wherein each one of the plurality of landmark points included in the map is defined by a three dimensional position and the associated image information for that one of the plurality of landmark points.