Systems and methods for GPS-based and sensor-based relocalization

A system for determining a pose of a system relative to a mapped environment, the system comprising:

• one or more processors;
• and
• one or more hardware storage devices storing computer-executable instructions that are executable by the one or more processors to configure the system to determine a pose of a system relative to a mapped environment and by at least configuring the system to perform the following:
• generate head tracking data associated with the system, the head tracking data being generated based on at least (1) visual tracking data obtained using one or more cameras associated with the system and (2) inertial tracking data obtained using one or more inertial tracking components associated with the system;
• obtain radio-based positioning data generated using one or more radio-based positioning components associated with the system;
• limit a search space within a map of the mapped environment based on the radio-based positioning data;
• and
• determine a pose of the system within the search space using at least a portion of the head tracking data as input.