Improve the point of interest location calculation algorithm.
Use frameworks such as ARKit for metric scale calculations such as sidewalk width.

Object Distance Calculation

Take the image segment of the point of interest and get the depth of every pixel. Create the histogram of the depth of all the points involved, remove outliers, and return the mean depth.

Object Location Calculation:

1. Replace the existing Flat-Earth approximation formula with the Great Circle formula
   While this makes an assumption that Earth is a perfect sphere, which is seemingly accurate enough to a reasonable extent.

2. Improve the object (relative) heading calculation using camera transform and intrinsics to take lateral position (field of view) of the objects into consideration.
   The current heading comes from Apple CoreLocation.
   Using the heading as is, makes the assumption that the object is perfectly straight in front of the device, which may not be the case.

3. Improve the object distance calculation using camera transform and intrinsics to take device tilt into consideration.
   The current distance value comes from the LiDAR depth map.
   Using the distance as is, makes the assumption that the device is perfectly upright, which is almost never the case.

4. Improve the object location using camera transform and intrinsics to take device rotation into consideration.

Metric Scale Calculation

1. Use camera intrinsics and camera transform to calculate the sidewalk width