US Patent 9589355 Guided geometry extraction for localization of a device

Systems, apparatuses, and methods are provided for determining the geographic location of an end-user device (e.g., vehicle, mobile phone, smart watch, etc.). An end-user device may collect a depth map at a location in a path network. Feature geometries may be obtained from a fingerprint database in proximity to the location in the path network. The depth map may be oriented with the feature geometries of the fingerprint. Control points from an extracted feature geometry in the depth map may be compared with control points within the fingerprint. Match rates may be calculated based on the comparison, and a geographic location of the end-user device may be determined when an overall match rate exceeds a minimum threshold value.