A method for estimating a camera pose includes recognizing a three-dimensional (3D) map
representing a physical environment, the 3D map including 3D map features defined as 3D
points. An obfuscated image representation is received, the representation derived from an
original unobfuscated image of the physical environment captured by a camera. The
representation includes a plurality of obfuscated features, each including (i) a two-
dimensional (2D) line that passes through a 2D point in the original unobfuscated image at …