Patent ID: 11954882
Assignee: ZEBRA TECHNOLOGIES CORPORATION
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 21:
22. A computing device, comprising:
a memory; and
a processor configured to:
in a facility containing a plurality of support structures, capture an image of a first support structure;
detect, in the image, a first feature set of the first support structure;
select at least one reference feature set by proximity to an estimated location of the mobile computing device in the facility coordinate system, the at least one reference feature set selected from a repository defining feature locations for each of the support structures in a facility coordinate system;
compare the first feature set with the at least one reference feature set; and
in response to determining that the first feature set matches the at least one reference feature set, determine a location of the mobile computing device in the facility coordinate system based on the image and the feature locations from the repository; and
in response to determining that the first feature set does not match the reference feature set, determine whether an exit criterion has been met;
when the exit criterion has been met, capture a machine-readable indicium and determine a location of the mobile computing device in the facility frame of reference based on a location of the machine readable indicium in the repository.