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

Claim 20:
21. 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;
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;
generate a confidence level associated with the local pose; and
when the confidence level exceeds a threshold, update the repository with at least one feature detected in the sequence of further images and a feature location corresponding to the local pose.