Patent Document ID: 9990547
Application ID: 15236881
Patent Status: 1

Claim One:
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, wherein selecting features in the image data for feature-following comprises: determining, based on the image data, a plurality of sections of a first image of the image data; and selecting for each of the plurality of sections a threshold number of features 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.