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AssigneeApple Inc.
InventorsHuiwen Guo, Jose Maria Facil Ledesma, Lina M. Paz-Perez, Oleg Naroditsky, Abdelhamid Dine, Joseph A. Menke
Estimating the term…
Various implementations disclosed herein include devices, systems, and methods that localize (e.g., determine a pose) of a device in a 3D environment based on sensor data and semantic segmentation information. Some implementations provide device localization on moving platforms (e.g., trains, buses, cars, etc.) based on camera images (i.e., vision). Since motion (i.e., IMU) data may not be reliable in such moving environments, image and/or other sensor data may be more heavily relied upon than in other circumstances. Some implementations improve the usability of vision-based tracking features points. This may involve identifying and removing outlier tracking feature points based on semantics. For example, tracking features points corresponding to the outside environment, which is not moving with the moving platform, may be excluded based on semantic information identifying that they are not part of the moving platform (e.g., that they are instead seen through a window, not trackable, etc.).
A method comprising:
A system comprising:
A non-transitory computer-readable storage medium, storing program instructions executable via a processor to perform operations comprising:
Dependencies are inferred from the claim text.