Method and a data processing system for aligning a first panoramic image and a second panoramic image in a navigation procedure

A data processing system, comprising:

• a processor;
• an accessible memory coupled to said processor;
• and
• the data processing system being configured to perform an alignment procedure to align a first panoramic image and a second panoramic image in a navigation procedure, said alignment procedure containing the following steps of:
• using a computer vision algorithm for extracting features that are present in the first panoramic image and/or in the second panoramic image and using extracted features to generate a first feature vector for the first panoramic image and a second feature vector for the second panoramic image;
• comparing the first and the second feature vector and identifying matches in both the first and the second feature vector that are above a determined threshold;
• determining for identified matches in each of the first and the second feature vector for each of the first and second panoramic images a perspective angle between a reference point of a respective one of the first and second panoramic images and the features according to the identified matches;
• and
• determining a difference between determined perspective angles for at least part of the identified matches in the first and the second panoramic image.