US Patent 11145083 Image-based localization

A method for image-based localization includes, at a camera device, capturing a plurality of images of a real-world environment. A first set of image features are detected in a first image of the plurality of images. Before additional sets of image features are detected in other images of the plurality, the first set of image features is transmitted to a remote device configured to estimate a pose of the camera device based on image features detected in the plurality of images. As the additional sets of image features are detected in the other images of the plurality, the additional sets of image features are transmitted to the remote device. An estimated pose of the camera device is received from the remote device.