Patent attributes
A method in a computing device includes: in a facility containing a plurality of support structures, capturing an image of a first support structure; detecting, in the image, a first feature set of the first support structure; selecting obtaining at least one reference feature set by proximity to an estimated location of the mobile computing device in the facility coordinate system, the at least one reference feature set selected from a repository defining feature locations for each of the support structures in a facility coordinate system; comparing the first feature set with the at least one reference feature set; and in response to determining that the first feature set matches the at least one reference feature set, determining a location of the mobile computing device in the facility coordinate system based on the image and the feature locations from the repository.
