Estimating relative pose leveraging lane markers

A method operable at a first wireless communication device, the method comprising:

• receiving lane features identifying two traffic lane markers from a second wireless communication device;
• receiving a plurality of first features in a first field of view associated with the second wireless communication device, each first feature in the plurality of first features comprising a respective first keypoint of a first image captured by the second wireless communication device;
• receiving a respective two-point two-line (2L2P) metric for each pair of first keypoints within a set of pairs of first keypoints of the plurality of first features based on the two traffic lane markers from the second wireless communication device;
• obtaining a plurality of second features in a second field of view associated with the first wireless communication device, each second feature in the plurality of second features comprising a respective second keypoint of a second image captured by the first wireless communication device;
• associating the plurality of first features with the plurality of second features to obtain a set of corresponding keypoints within the plurality of second features that correspond to respective first keypoints within the plurality of first features;
• identifying matching keypoints within the set of corresponding keypoints for which the respective 2L2P metric is satisfied;
• and
• calculating a relative pose of the first wireless communication device with respect to the second wireless communication device based on the matching keypoints.

A wireless communication device, comprising:

• a transceiver;
• a memory;
• and
• a processor coupled to the transceiver and the memory, the processor being configured to:
• transmit lane features identifying two traffic lane markers to at least one other wireless communication device via the transceiver;
• transmit a plurality of features in a field of view associated with the wireless communication device via the transceiver, each feature in the plurality of features comprising a respective keypoint of an image captured by the wireless communication device;
• and
• transmit a respective two-point two-line (2L2P) metric for each pair of keypoints within a set of pairs of keypoints of the plurality of features based on the two traffic lane markers via the transceiver.

A method operable at a wireless communication device, the method comprising:

• transmitting lane features identifying two traffic lane markers to at least one other wireless communication device;
• transmitting a plurality of features in a field of view associated with the wireless communication device, each feature in the plurality of features comprising a respective keypoint of an image captured by the wireless communication device;
• and
• transmitting a respective two-point two-line (2L2P) metric for each pair of keypoints within a set of pairs of keypoints of the plurality of features based on the two traffic lane markers.