System and method for mapping

A computer implemented method for updating a point map on a system having first and second communicatively coupled hardware components, comprising:

• the first component performing a bundle adjust process on the point map in a first map state to generate a first map change, wherein the first map state is a state of the point map;
• the second component performing a loop closure process on the point map in the first map state to generate a second map change;
• the second component applying the second map change to the point map in the first map state to generate a first updated point map in a second map state, wherein the second map state is a state of the first updated point map;
• the first component sending the first map change to the second component;
• and
• the second component applying the first map change to the first updated point map in the second map state to generate a second updated point map in a third map state, wherein the third map state is a state of the second updated point map.