MAP PROCESSING DEVICE AND METHOD THEREOF

A map processing device obtains images from a camera transported with a mobile device, and detects 2D features in the images. At least some of the 2D features detected in the images are densified to generate a densified set of 2D features. Locations of the densified set of 2D features are determined in 3D space using an image-based localization algorithm. A structure-based map comprising depth information from a depth sensor transported by another mobile device is accessed, wherein the depth information includes a set of data points indicating locations in 3D space corresponding to features in the real-world sensed by the depth sensor. The camera transported with the mobile device is localized to the real-world based on matching the locations of the densified set of 2D features in 3D space to the depth information accessed in the structure-based map.