Abstract: In one implementation, a method of estimating the heading of a device is performed by the device including a processor, non-transitory memory, and an image sensor. The method includes determining a geographic location of the device. The method includes capturing, using the image sensor, an image at the geographic location. The method includes detecting one or more lines within the image. The method includes determining a heading of the device based on the one or more lines and the geographic location.

Abstract: In one implementation, a method of estimating the heading of a device is performed by the device including a processor, non-transitory memory, and an image sensor. The method includes determining a geographic location of the device. The method includes capturing, using the image sensor, an image at the geographic location. The method includes detecting one or more lines within the image. The method includes determining a heading of the device based on the one or more lines and the geographic location.

Abstract: Systems, methods, and machine-readable media for generating a classifier configured to label segments of an image, are discussed. According to one aspect, the system may include a training module, a labeling module, and an update module. The training module may be configured to train a first sub-classifier based on photographic data for a set of pre-labeled image segments and a second sub-classifier based on 3-dimensional point data for the set of pre-labeled image segments. The labeling module may be configured to generate a labeling solution comprising a plurality of associations between an image segment from the set of unlabeled image segments and a label. The update module may be configured to update the set of pre-labeled image segments based on the labeling solution. The training module may also be configured to train the first sub-classifier and the second sub-classifier based on the updated set of pre-labeled image segments.