Patent ID: 9437000
Filing Date: 2016-09-06
CPC Classification: G06K,G06T,H04W

Claim Text:
1. A method comprising: receiving, using a processor, data from a plurality of sensors of a device; determining, based on the data, motion data that is indicative of a movement of the device in an environment; as the device moves in the environment, receiving image data from a camera of the device; selecting, based at least in part on the motion data, features in the image data for feature-following; and estimating one or more of a position of the device or a velocity of the device in the environment as supported by the data from the plurality of sensors and by feature-following of the selected features in the image data: wherein the plurality of sensors includes an inertial measurement unit (IMU), wherein the motion data includes data received from the IMU that is indicative of a direction of gravity being applied to the device, and wherein selecting features in the image data for feature-following comprise: