Method and system for performing simultaneous localization and mapping using convolutional image transformation

A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• generating a 3D point cloud containing a plurality of points;
• obtaining two camera poses from which the plurality of points are at least partially viewable;
• projecting the plurality of points onto two 2D planes using the two camera poses to generate two 2D point clouds;
• generating, by a neural network, a particular homography based on the two 2D point clouds;
• determining a ground-truth homography based on the two camera poses;
• comparing the particular homography to the ground-truth homography to generate an error;
• and
• modifying the neural network based on the error.

A system comprising:

• one or more processors;
• and
• a non-transitory computer-readable medium comprising instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
• generating a 3D point cloud containing a plurality of points;
• obtaining two camera poses from which the plurality of points are at least partially viewable;
• projecting the plurality of points onto two 2D planes using the two camera poses to generate two 2D point clouds;
• generating, by a neural network, a particular homography based on the two 2D point clouds;
• determining a ground-truth homography based on the two camera poses;
• comparing the particular homography to the ground-truth homography to generate an error;
• and
• modifying the neural network based on the error.