Method and system for determining a state of a camera

Abstract

The invention relates to a method for determining a state x() of a camera () at a time t, the state x() being a realization of a state random variable X, wherein the state is related to a state-space model of a movement of the camera (). The method comprises the following steps: a) receiving an image () of a scene of interest () in an indoor environment () captured by the camera () at the time t, wherein the indoor environment () comprises N landmarks () having known positions in a world coordinate system (), N being a natural number; b) receiving a state estimate x{circumflex over ( )}() of the camera () at the time t, c) determining () positions of M features in the image (), M being a natural number; d) receiving () distance data indicative of distance between the M features and the corresponding M landmarks (), respectively; e) determining () an injective mapping estimate from the M features into the set of the N landmarks () using at least (i) the positions of the M features in the image and (ii) the state estimate (); f) using the determined injective mapping estimate () to set up () an observation model in the state-space model, wherein the observation model is configured for mapping the state random variable Xof the camera onto a joint observation random variable Z, wherein at the time t, an observation zis a realization of the joint observation random variable Z, and wherein the observation zcomprises (i) the position of at least one of the M features in the image, and (ii) the distance data indicative of distance; and g) using () (i) the state estimate, (ii) the observation model, and (iii) the observation z, to determine the state x() of the camera at the time t. The invention also relates to a computer program product and to an assembly.