Patent ID: 11948380
Assignee: APPLE INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 9:
10. The method of claim 1, wherein the plurality of points further includes a second cluster of points associated with a second semantic label, the method further comprising:
detecting, in the two-dimensional image of the physical environment, a representation of a second object corresponding to the second semantic label;
determining a second plurality of sets of two-dimensional coordinates in the two-dimensional coordinate system of the two-dimensional image of the physical environment corresponding to the representation of the second object; and
determining, from the second cluster of points associated with the second semantic label, a second plurality of sets of three-dimensional coordinates in the three-dimensional coordinate system of the physical environment respectively corresponding to the second plurality of sets of two-dimensional coordinates in the two-dimensional coordinate system of the two-dimensional image of the physical environment,
wherein determining the pose of the camera based on the estimate of the point-of-view set of three-dimensional coordinates is further based on the second plurality of two-dimensional coordinates and the second plurality of three-dimensional coordinates.