System and method for relocalization and scene recognition

A method comprising:

• receiving two-dimensional (2D) training red-green-blue-depth (RGBD) data, the 2D training RGBD data being unrelated to a specific physical environment;
• receiving first orientation data associated with the 2D training RGBD data;
• generating pre-training samples based at least in part on the 2D training RGBD data training interior nodes of a relocation forest based at least in part on the pre-training samples and at least one node splitting objective;
• receiving 2D scene specific RGBD data;
• receiving second orientation data associated with the 2D scene specific RGBD data;
• generating scene specific training samples based at least in part on the 2D scene specific RGBD data;
• and
• training leaf nodes of the relocation forest based at least in part on the scene specific training samples and the at least one node splitting objective.

A method comprising:

• receiving training red-green-blue-depth data;
• generating training samples from the training RGBD (RGBD) data;
• training interior nodes of a relocation forest based at least in part on the training samples and at least one node splitting objective;
• training the interior nodes of the relocation forest based at least in part on the training samples and a weak learner parameter space;
• receiving scene specific RGBD data;
• generating scene specific samples from the scene specific RGBD data;
• training leaf nodes of the relocation forest based at least in part on the scene specific samples and the at least one node splitting objective;
• and
• training the leaf nodes of the relocation forest based at least in part on the scene specific samples and the weak learner parameter space.