Patent Document ID: 9990726
Application ID: 14430170
Patent Status: 1

Claim One:
1. A method of determining a position and orientation of a capturing device, the method comprising: receiving an image depicting a real object from the capturing device; determining a coordinate system in relation to the real object; determining a first value of a first degree of freedom of the capturing device in the coordinate system based on first pose data, wherein the first value is associated with a first confidence degree; determining a second value of a second degree of freedom of the capturing device in the coordinate system based on second pose data, wherein the second value is associated with a second confidence degree different from the first confidence degree; determining an initial pose of the capturing device with respect to the real object based on the first value of the first degree of freedom and the second value of the second degree of freedom; determining an updated value of the second degree of freedom of the capturing device based on the second confidence degree, the initial pose and the image; and determining a position and an orientation of the capturing device in the coordinate system based on the first value of the first degree of freedom and the updated value of the second degree of freedom.