Adjusting heading sensor output based on image data

A device, comprising:

• at least one processor;
• and
• a memory including instructions that, when executed by the at least one processor, cause the at least one processor to:
• obtain a first estimate for a heading of the device, the first estimate being based on output from a magnetometer of the device;
• capture image data using an image sensor of the device;
• determine at least one second estimate of the heading based on the image data;
• determine a bias associated with output of the magnetometer based on the first estimate and the at least one second estimate;
• and
• adjust output of the magnetometer based on the determined bias.

A computer program product comprising code stored in a tangible computer-readable storage medium, the code comprising:

• code to obtain a first estimate for a heading of a device, the first estimate being based on output from a magnetometer of the device;
• code to capture image data using an image sensor of the device;
• code to determine at least one second estimate of the heading based on correlating the image data with mapping data;
• code to determine, based on the image data, a third estimate for at least one of a device orientation or a device position relative to a reference point associated with the device;
• code to determine, using a Global Navigation Satellite System (GNSS) sensor of the device, a fourth estimate for a direction of motion of the device;
• code to determine a bias associated with output of the magnetometer based on the first estimate, the at least one second estimate, the third estimate and the fourth estimate;
• and
• code to adjust output of the magnetometer based on the determined bias.