Patent Document ID: 10121247
Application ID: 15167391
Patent Status: 1

Claim One:
1. A method of tracking a mobile device, comprising: receiving image information associated with at least one image captured by at least one camera of a mobile device in a real environment; generating a first geometrical model of at least part of the real environment based on data acquired by at least one sensor of a vehicle, which is different from the mobile device; tracking the mobile device based on the image information associated with the at least one image, and at least partially according to the first geometrical model, by determining at least one parameter of a pose of the mobile device relative to the real environment, wherein the tracking is vision-based tracking based on Simultaneous Localization and Mapping (SLAM); and generating a second geometrical model based on received image information associated with at least one further image captured by the at least one camera or further based on received depth information associated with the at least one image, wherein the first geometrical model is generated according to one or more provided routes to a destination of the vehicle.