FIELD

This disclosure relates generally to feature point maps, and more specifically to techniques for maintaining and managing feature point maps.

BACKGROUND

Objects of a virtual environment may be rendered at positions in a coordinate system using feature point maps. However, maintaining and managing such feature point maps can be difficult.

SUMMARY

The present disclosure describes techniques for maintaining feature point maps. In accordance with some examples, a method for maintaining a feature point map of a real world environment using an electronic device is described. The method comprises receiving, from a recording device, a plurality of feature points corresponding to a location within the real world environment, wherein the plurality of feature points correspond to an image of the location captured by the recording device. The method further comprises determining, based on data extracted from the image of the location, whether an object within the image corresponds to a stationary object. The method further comprises, in accordance with a determination that the object corresponds to the stationary object, updating the feature point map using one or more feature points of the plurality of feature points that correspond to the object within the image. The method further comprises, in accordance with a determination that the object does not correspond to the stationary object, forgoing update of the feature point map using the one or more feature points of the plurality of feature points corresponding to the object within the image.

In some examples, the data extracted from the image of the location comprises pixel information corresponding to the image.

In some examples, the method further comprises accessing a predefined classification system, wherein determining whether the object within the image corresponds to the stationary object includes using the predefined classification system to classify that the object corresponds to the stationary object.

In some examples, determining whether the object within the image corresponds to the stationary object includes identifying whether the object within the image corresponds to a moving object.

In some examples, determining whether the object within the image corresponds to the stationary object includes determining, based on location information received from the recording device, whether the object within the image corresponds to a moving object in the real world environment. In some examples, the method further comprises receiving, from a second recording device, a second plurality of feature points corresponding to the location within the real world environment, wherein the second plurality of feature points correspond to a second image of the location captured by the recording device. In some examples, the method further comprises determining, based on the data extracted from the image of the location and based on second data extracted from the second image of the location, whether the object corresponds to the moving object. In some examples, the method further comprises determining, based on the data extracted from the image of the location, whether a second object within the image corresponds to a known object in the feature point map, wherein: in accordance with a determination that the second object within the image corresponds to the known object in the feature point map, determining whether the object within the image corresponds to the stationary object includes comparing a position of the object within the image to a position of the second object within the image.

In some examples, the method further comprises, in accordance with a determination that the object cannot be determined to correspond to the stationary object and in accordance with a determination that the object cannot be determined to not correspond to the stationary object, forgoing update of the feature point map using the one or more feature points of the plurality of feature points corresponding to the object within the image.

In some examples, determining whether the object within the image corresponds to the stationary object includes: determining a certainty value for the object; and in response to determining the certainty value for the object, determining whether the certainty value is greater than a predefined threshold value for the stationary object.

In some examples, the plurality of feature points received from the recording device corresponds to feature points that have not been filtered out by the recording device prior to transmitting the features points to the electronic device. In some examples, the feature points that have been filtered out by the recording device correspond to feature points that have been determined, locally by the recording device, to correspond to a non-stationary object within the image.

In accordance with some examples, a non-transitory computer-readable storage medium is described. The non-transitory computer-readable storage medium storing one or more programs configured to be executed by one or more processors of an electronic device, the one or more programs including instructions for receiving, from a recording device, a plurality of feature points corresponding to a location within the real world environment, wherein the plurality of feature points correspond to an image of the location captured by the recording device. The instructions further for determining, based on data extracted from the image of the location, whether an object within the image corresponds to a stationary object. The instructions further for, in accordance with a determination that the object corresponds to the stationary object, updating the feature point map using one or more feature points of the plurality of feature points that correspond to the object within the image. The instructions further for, in accordance with a determination that the object does not correspond to the stationary object, forgoing updating the feature point map using the one or more feature points of the plurality of feature points corresponding to the object within the image.

In accordance with some examples, a transitory computer-readable storage medium is described. The non-transitory computer-readable storage medium storing one or more programs configured to be executed by one or more processors of an electronic device, the one or more programs including instructions for receiving, from a recording device, a plurality of feature points corresponding to a location within the real world environment, wherein the plurality of feature points correspond to an image of the location captured by the recording device. The instructions further for determining, based on data extracted from the image of the location, whether an object within the image corresponds to a stationary object. The instructions further for, in accordance with a determination that the object corresponds to the stationary object, updating the feature point map using one or more feature points of the plurality of feature points that correspond to the object within the image. The instructions further for, in accordance with a determination that the object does not correspond to the stationary object, forgoing updating the feature point map using the one or more feature points of the plurality of feature points corresponding to the object within the image.

In accordance with some examples, an electronic device is described. The electronic device comprises one or more processors and memory storing one or more programs configured to be executed by the one or more processors, the one or more programs including instructions for receiving, from a recording device, a plurality of feature points corresponding to a location within the real world environment, wherein the plurality of feature points correspond to an image of the location captured by the recording device. The instructions further for determining, based on data extracted from the image of the location, whether an object within the image corresponds to a stationary object. The instructions further for, in accordance with a determination that the object corresponds to the stationary object, updating the feature point map using one or more feature points of the plurality of feature points that correspond to the object within the image. The instructions further for, in accordance with a determination that the object does not correspond to the stationary object, forgoing updating the feature point map using the one or more feature points of the plurality of feature points corresponding to the object within the image.

In accordance with some examples, an electronic device is described. The electronic device comprises: means for receiving, from a recording device, a plurality of feature points corresponding to a location within the real world environment, wherein the plurality of feature points correspond to an image of the location captured by the recording device; means for determining, based on data extracted from the image of the location, whether an object within the image corresponds to a stationary object; means for, in accordance with a determination that the object corresponds to the stationary object, updating the feature point map using one or more feature points of the plurality of feature points that correspond to the object within the image; and means for, in accordance with a determination that the object does not correspond to the stationary object, forgoing updating the feature point map using the one or more feature points of the plurality of feature points corresponding to the object within the image.

