hypothetical line mapping and verification for 3d maps

摘要

A device, apparatus and method for performing line mapping is disclosed. A three-dimensional map (3d), including at least a first and a second 3d line corresponding to an aspect of a real world environment, can be obtained. one or more aspect images can also be obtained and hypothetical 3d lines can be determined. hypothetical 3d lines can be checked with one or more images and the 3d map can be updated. Determining and verifying hypothetical 3d lines may include creating a plane in 3d space and using co-planarity and orthogonality assumptions.