Map summarization and localization

A method, comprising:

• generating, at an electronic device, first data representative of one or more objects in an environment of the electronic device, wherein the first data is based on images captured from one or more visual sensors and non-visual data from one or more non-visual sensors;
• identifying a first set of one or more groups of objects wherein each group comprises objects appearing in a configuration;
• identifying a first scene comprising the first set of one or more groups of objects based on the consistency with which the configuration appears being above a first threshold;
• and
• generating a reference map of the first scene based on the first data.

An electronic device, comprising:

• a motion tracking module configured to generate a first set of data representative of one or more objects in an environment of the electronic device, wherein the first set of data is based on images captured from one or more visual sensors and non-visual data from one or more non-visual sensors;
• an object grouping module configured to identify a first set of one or more groups of objects wherein each group comprises objects appearing in a configuration;
• a scene module configured to identify a first scene comprising the first set of one or more groups of objects based on the consistency with which the configuration appears being above a first threshold;
• a scoring module configured to identify a utility weight for each of the one or more objects comprising the first scene, wherein the utility weight indicates a predicted likelihood that the corresponding object will be persistently identifiable by the electronic device in the environment over time and is based at least in part on verification by one or more mobile devices;
• a mapping module configured to generate a reference map of the first scene based on a subset of the first set of data representative of a subset of the one or more objects comprising the first scene, wherein the subset of the one or more objects comprises objects having utility weights above a threshold;
• and
• a localization module configured to localize an estimated current pose of the electronic device based on the reference map of the first scene.