Odometry feature matching

A non-transitory computer readable memory configured to store instructions that, when executed by a device, cause the device to perform functions comprising:

• receiving, at the device, data from a plurality of sensors of the device;
• determining, based on the data, motion data that is indicative of a movement of the device in an environment;
• as the device moves in the environment, receiving image data from a camera of the device;
• selecting, based at least in part on the motion data, features in the image data for feature-following;
• estimating one or more of a position of the device or a velocity of the device in the environment as supported by the data from the plurality of sensors and by feature-following of the select features in the image data;
• and
• wherein the plurality of sensors includes an inertial measurement unit (IMU),
• wherein the motion data includes data received from the IMU that is indicative of a direction of gravity being applied to the device, and
• wherein selecting features in the image data for feature-following comprise:
• identifying one or more vertical lines in the image data as a line that is parallel to the direction of gravity or one or more horizontal lines in the image data as a line that is perpendicular to the direction of gravity;
• and
• providing the identified one or more vertical lines or the identified one or more horizontal lines as a given feature for feature-following.

A device comprising:

• one or more processors;
• and
• data storage configured to store instructions that, when executed by the one or more processors, cause the device to perform functions comprising:
• receiving data from a plurality of sensors of the device;
• determining, based on the data, motion data that is indicative of a movement of the device in an environment;
• as the device moves in the environment, receiving image data from a camera of the device;
• selecting, based at least in part on the motion data, features in the image data for feature-following;
• and
• estimating one or more of a position of the device or a velocity of the device in the environment as supported by the data from the plurality of sensors and by feature-following of the selected features in the image data;
• wherein the plurality of sensors includes an inertial measurement unit (IMU),
• wherein the motion data includes data received from the IMU that is indicative of a direction of gravity being applied to the device, and
• wherein the function of selecting features in the image data for feature-following comprise:
• identifying one or more vertical lines in the image data as a line that is parallel to the direction of gravity or one or more horizontal lines in the image data as a line that is perpendicular to the direction of gravity;
• and
• providing the identified one or more vertical lines or the identified one or more horizontal lines as a given feature for feature-following.