Autonomous Human-Centric Place Recognition

An autonomous computing system comprising:

• one or more processors;
• one or more memories storing instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
• capturing sensor data using one or more sensors describing a particular environment,
• processing the sensor data using one or more computing devices coupled to the one or more sensors to detect a participant within the environment,
• determining a location of the participant within the environment,
• querying a feature database populated with a multiplicity of features extracted from the environment using the location of the participant for one or more features being located proximate the location of the participant, and
• selecting, using the one or more computing devices, a scene type from among a plurality of predetermined scene types based on association likelihood values describing probabilities of each feature of the one or more features being located within the scene types.