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

Claim 18:
19. A method in a computing device, the method comprising:
in a facility containing a plurality of support structures, capturing an image of a first support structure;
detecting, in the image, a first feature set of the first support structure;
selecting 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;
comparing the first feature set with the at least one reference feature set;
in response to determining that the first feature set matches the at least one reference feature set, determining a location of the mobile computing device in the facility coordinate system based on the image and the feature locations from the repository;
in response to determining the location of the mobile computing device in the facility coordinate system, generating a transform between the facility coordinate system and a local coordinate system of the mobile computing device;
capturing a sequence of further images; updating a local pose of the mobile computing device based on the sequence of further images;
updating the location of the mobile computing device in the facility coordinate system using the local pose and the transform;
generating a confidence level associated with the local pose; and
when the confidence level exceeds a threshold, updating the repository with at least one feature detected in the sequence of further images and a feature location corresponding to the local pose.