Abstract: A method comprising obtaining image data captured by a camera device. The image data represents an observation of at least part of an environment. A camera pose estimate associated with the observation is obtained. Rendered image data is generated based on the camera pose estimate and a model of the environment for generating a three-dimensional representation of the at least part of the environment. The rendered image data is representative of at least one rendered image portion corresponding to the at least part of the environment. The method includes evaluating a loss function based on the image data and the rendered image data, thereby generating a loss. At least the camera pose estimate and the model are jointly optimised based on the loss, thereby generating an update to the camera pose estimate, and an update to the model.

Abstract: A method comprising obtaining image data captured by a camera device. The image data represents an observation of an environment. A two-dimensional representation of at least part of the environment is obtained using a model of the environment. The method includes evaluating a difference between the two-dimensional representation and at least part of the observation. The at least part of the observation is of the at least part of the environment represented by the two-dimensional representation. Based on the difference, a portion of the image data is selected for optimising the model. The portion of the image data represents a portion of the observation of the environment. The method comprises optimising the model using the portion of the image data.