METHOD, DEVICE, AND COMPUTER PROGRAM FOR DETERMINING THE CHANGE IN POSITION AND ORIENTATION OF THE MOBILE APPARATUS

Provided is a method of determining a change in a position and/or orientation of a mobile apparatus, comprising: acquiring a first data stream indicating a first estimated change in the position and/or orientation of the mobile apparatus in respective ones of a plurality of time frames; acquiring a second data stream indicating a second estimated change in the position and/or orientation of the mobile apparatus in the respective ones of the plurality of time frames, wherein the first data stream has a higher accuracy than the second data stream and the first data stream has a lower robustness than the second data stream; and responsive to a comparison of the first indicated change with the second indicated change in the respective ones of the plurality of time frames, using the first estimated change or the second estimated change to determine the change in the position and/or orientation of the mobile apparatus.