Methods and apparatus for three-dimensional localization and mapping

A method for enabling three-dimensional localization and mapping via a mobile device comprising an inertial measurement unit and a three-dimensional image capture device, the method comprising:

• receiving a first set of inertial measurement information from the inertial measurement unit;
• determining a first current position and orientation of the mobile device based on a defined position and orientation of the mobile device and the first set of inertial measurement information;
• receiving three-dimensional image data of the environment from the three-dimensional image capture device;
• determining a second current position and orientation of the mobile device based on the received three-dimensional image data and the first current position and orientation of the mobile device;
• and
• generating a three-dimensional representation of an environment with respect to the second current position and orientation of the mobile device.

One or more computer-readable media having computer-executable component, the components comprising:

• an interface component that when executed by at least one processor causes the at least one processor to receive a first set of inertial measurement information from an inertial measurement unit, and receive three-dimensional image data of an environment from a three-dimensional image capture device;
• a localization component that when executed by at least one processor causes the at least one processor to determine a first current position and orientation of the device in the environment based on a defined position and orientation of the device and the first set of inertial measurement information, determine a second current position and orientation of the device based on the received three-dimensional image data and the first current position and orientation of the mobile device;
• and
• a mapping component that when executed by at least one processor causes the at least one processor to generate a three-dimensional representation of the environment with respect to the second current position and orientation of the device.