System and method for concurrent odometry and mapping

A method, comprising:

• tracking, at an electronic device, motion of the electronic device relative to an environment of the electronic device based on feature descriptors of one or more spatial features representing one or more objects in the environment of the electronic device, wherein the feature descriptors are generated based on images captured from one or more visual sensors and non-visual data from one or more non-image sensors at a first rate;
• generating, at the electronic device, a three-dimensional visual representation of the environment based on a plurality of stored maps comprising stored feature descriptors at a second rate;
• and
• matching the one or more spatial features to spatial features of the plurality of stored maps to generate a first localized pose of the electronic device.

An electronic device, comprising:

• a motion tracking module configured to track motion of the electronic device relative to an environment of the electronic device based on feature descriptors of one or more spatial features representing one or more objects in the environment of the electronic device, wherein the feature descriptors are generated based on images captured from one or more visual sensors and non-visual data from one or more non-image sensors at a first rate;
• a mapping module configured to generate a three-dimensional visual representation of the environment of the electronic device based on a plurality of stored maps comprising stored feature descriptors at a second rate;
• and
• a localization module configured to match the one or more spatial features to spatial features of the plurality of stored maps to generate a localized pose of the electronic device.