Geometric fingerprinting for localization of a device

A method comprising:

• collecting a three-dimensional depth map at a location in a path network using a depth sensing camera attached to an end-user device;
• dividing, using a processor, the depth map into one or more horizontal slices, each horizontal slice at a defined elevation from a road level and having a thickness in a range above and below the defined elevation, wherein each horizontal slice includes data from the depth map within a range above and below each respective elevation;
• extracting two-dimensional feature geometries comprising one or more sets of connected lines from the one or more horizontal slices;
• determining a geographic location of the end-user device through a comparison of at least a portion of the extracted feature geometries and a database of feature geometries for the path network;
• and
• providing the geographic location to the end-user device.

An apparatus comprising:

• at least one processor;
• and
• at least one memory including computer program code for one or more programs;
• the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to at least perform:
• receive a three-dimensional depth map for a location in a path network from a depth sensing device;
• identify physical structures within the depth map at the location;
• divide the depth map into one or more horizontal slices, each of the one or more horizontal slices at a defined elevation from a road level and having a thickness in a range above and below the defined elevation, wherein each horizontal slice includes data from the depth map at the defined elevation and includes data from the depth map in the range above and below the defined elevation, until at least one feature geometry of a physical structure is identified;
• extract at least one two-dimensional feature geometry from the one or more horizontal slices;
• and
• encode at least a portion of the extracted at least one feature geometry into a database.

An apparatus comprising:

• at least one processor;
• and
• at least one memory including computer program code for one or more programs;
• the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to at least perform:
• collect a three-dimensional depth map at a location in a path network using a depth sensing camera attached to an end-user device;
• identify physical structures within the depth map at the location;
• divide the depth map, at each physical structure, into one or more horizontal slices, each of the one or more horizontal slices at a defined elevation from a road level and having a thickness in a range above and below the defined elevation, wherein the one or more horizontal slices include data from the depth map at the defined elevation and include data from the depth map in the range above and below the defined elevation;
• extract two-dimensional feature geometries comprising one or more sets of connected lines from the ones or more horizontal slices;
• determine a geographic location of the end-user device through a comparison of at least a portion of the extracted feature geometries and a database of feature geometries for the path network;
• and
• provide the geographic location of the end-user device to the end-user device.