Abstract: A mobile computing device (MCD, 100) for controlling concurrent execution of perception algorithms is provided. comprising network interface circuitry and processing circuitry.

Abstract: A mapping device receives a request for localization using current sensor data which is image-based sensor data or structure-based sensor data, access image-based map elements and structure-based map elements, each map element being associated with a capturing time indicating a time of capturing the sensor data based on which it was derived, identify pairs of corresponding map elements, each pair including an image-based map element and a structure-based map element representing features at the same real-world location, and for each pair of corresponding map elements: determine an information difference metric between the image-based map element and the structure-based map element, and select one of the map elements of the pair of corresponding map elements for updating the heterogenous map based on a comparison of the respective capturing times, a type of the current sensor data, and the information difference metric.

Abstract: A map processing device obtains images from a camera transported with a mobile device, and detects 2D features in the images. At least some of the 2D features detected in the images are densified to generate a densified set of 2D features. Locations of the densified set of 2D features are determined in 3D space using an image-based localization algorithm. A structure-based map comprising depth information from a depth sensor transported by another mobile device is accessed, wherein the depth information includes a set of data points indicating locations in 3D space corresponding to features in the real-world sensed by the depth sensor. The camera transported with the mobile device is localized to the real-world based on matching the locations of the densified set of 2D features in 3D space to the depth information accessed in the structure-based map.

Abstract: A method for aligning representations of a 3D space is provided, including: obtaining a first set of geometric restrictions for a first representation corresponding to capturing restrictions of a first capturing device, the first representation forming part of a map for positioning of capturing devices; obtaining a second set of geometric restrictions corresponding to capturing restrictions of a second capturing device for providing a second representation of a 3D physical space; determining that a difference between the first set of geometric restrictions and the second set of geometric restrictions exceeds a threshold; determining which one of the first set of geometric restrictions and the second set of geometric restrictions is most restrictive and which one is least restrictive; and triggering a restrictive determination of the representation that is based on the least restrictive set of geometric restrictions, the determination being based on the most restrictive set of geometric restrictions.