All day localization

An electronic device comprising:

• a non-transitory computer-readable storage medium;
• one or more motion sensors;
• one or more cameras;
• and
• one or more processors coupled to the non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium comprises program instructions that, when executed on the one or more processors, cause the electronic device to perform operations comprising:
• tracking the electronic device based on motion data obtained via the one or more motion sensors, wherein the tracking comprises determining a series of position and orientation estimates over time in which later estimates in the series depend upon one or more earlier estimates in the series, and wherein drift develops over time during the tracking, the drift comprising differences in the position and orientation estimates relative to actual positions and orientations of the electronic device;
• obtaining 2D image data from the one or more cameras while the electronic device is within a three-dimensional (3D) environment;
• determining a corrected position and orientation of the electronic device based on the 2D image data and additional information from the motion data, wherein the additional information is indicative of a scale of the 2D image data;
• and
• correcting the drift based on the corrected position and orientation of the electronic device.

A non-transitory computer-readable storage medium, storing program instructions executable by one or more processors to perform operations comprising:

• at an electronic device having a processor, one or more motion sensors, and one or more cameras:
• tracking the electronic device based on motion data obtained via the one or more motion sensors, wherein the tracking comprises determining a series of position and orientation estimates over time in which later estimates in the series depend upon one or more earlier estimates in the series, and wherein drift develops over time during the tracking, the drift comprising differences in the position and orientation estimates relative to actual positions and orientations of the electronic device;
• obtaining 2D image data from the one or more cameras while the electronic device is within a three-dimensional (3D) environment;
• determining a corrected position and orientation of the electronic device based on the 2D image data and additional information from the motion data, wherein the additional information is indicative of a scale of the 2D image data;
• and
• correcting the drift based on the corrected position and orientation of the electronic device.