Abstract: An apparatus configured to: based on a plurality of geographical position data points associated with the position of a moving object; and based on a plurality of visual location data points obtained from a plurality of image frames captured from the moving object, the image frames showing a field of view of the moving object; determining a multi-modal trajectory by: matching the plurality of visual location data points with corresponding geographical navigation position data point of the plurality of geographical position data points; and determining the multi-modal trajectory as a best-fit trajectory having a deviation from the matched plurality of visual location data points and the plurality of geographical position data points within a predetermined tolerance; and smoothing the determined multi-modal trajectory to obtain a stable moving object trajectory indicative of a position and a heading of the moving object.

Abstract: A method, apparatus and computer program product are provided for determination of object measurements based on measurement assumption of one or more common objects in an image. A method is provided including receiving an input image comprising at least a first object and a second object, detecting at least the first and second objects, constructing one or more measurement assumptions based on the first object, and determining, using a processor, one or more measurements of the second object based on the measurement assumptions.