Minimizing drift using depth camera images

A device comprising:

• a memory to store a plurality of instructions;
• and
• a processor configured to execute the instructions in the memory to:
• obtain, from a camera associated with a reference object, depth image data including objects in a first frame and a second frame,
• identify features of the objects in the first frame and in the second frame,
• track movements of the features between the objects in the first frame and in the second frame;
• identify independently moving features in the second frame, based on the tracking movements,
• remove the independently moving features from the depth image data to obtain a static feature set,
• process the depth image data corresponding to the static feature set to detect changes in the relative position of objects in the first frame and the second frame,
• translate the changes in relative position into corresponding movement data of the camera, and
• provide, by the computing device, the corresponding movement data of the camera to an inertial navigation system.

A position-determining device, comprising:

• a depth camera to generate depth images relative to a reference object;
• a sensor to generate sensor data, wherein the sensor data includes one or more of motion data, rotation data, and magnetic field data relative to the reference object;
• a transmitter to send the depth images and the sensor data to a processing component;
• a receiver to receive the depth images and the sensor data;
• and
• the processing component being configured to:
• detect changes in relative positions of objects in the depth images,
• translate the changes in relative positions into corresponding movement data of the camera, and
• calculate a position of the reference object based on the sensor data and the calculated corresponding movement data of the camera.