Patent attributes
A device may obtain, from a camera associated with a reference object, depth image data including objects in a first frame and a second frame; identify features of the objects in the first frame and the second frame; and track movements of the features between the first frame and the second frame. The device may also identify independently moving features in the second frame, based on the tracking movements; remove the independently moving features from the depth image data to obtain a static feature set; and process the depth image data corresponding to the static feature set to detect changes in the relative position of objects in the first frame and the second frame. The processor may further translate the changes in relative position into corresponding movement data of the camera and provide the corresponding movement data to an inertial navigation system.
