Off-Target Tracking Using Feature Aiding in the Context of Inertial Navigation

A mobile device comprising:

• a camera;
• a memory;
• and
• a processing unit operatively coupled with the camera and the memory and configured to:
• obtain location information regarding a target;
• obtain, an image of the target, the image captured by the camera of the mobile device;
• estimate, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, wherein the pose comprises information indicative of a translation and orientation of the mobile device;
• and
• correct a pose determination of the mobile device using an Extended Kalman Filter (EKF), based, at least in part, on the measurements relating to the pose of the mobile device.

An apparatus comprising:

• means for obtaining location information regarding a target;
• means for obtaining an image of the target, the image captured by a mobile device;
• means for estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, wherein the pose comprises information indicative of a translation and orientation of the mobile device;
• and
• means for correcting a pose determination of the mobile device using an Extended Kalman Filter (EKF), based, at least in part, on the measurements relating to the pose of the mobile device.

A non-transitory machine-readable medium having instructions embedded thereon for correcting drift in a tracking system of a mobile device, the instructions including computer code for:

• obtaining location information regarding a target;
• obtaining an image of the target, the image captured by the mobile device;
• estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, wherein the pose comprises information indicative of a translation and orientation of the mobile device;
• and
• correcting a pose determination of the mobile device using an Extended Kalman Filter (EKF), based, at least in part, on the measurements relating to the pose of the mobile device.