Localization processing service and observed scene reconstruction service

A method of localizing an object in an environment using an observing subsystem comprising an image sensor component, a memory component, and a processing module communicatively coupled to the image sensor component and the memory component, the method comprising:

• storing, with the memory component, a map feature database comprising a plurality of map feature entries, wherein:
• each map feature entry of the plurality of map feature entries is respectively associated with a rendered map image of a plurality of rendered map images rendered from a georeferenced three-dimensional map;
• and
• each rendered map image of the plurality of rendered map images is associated with a respective map location and a respective map orientation;
• capturing, at a moment in time with the image sensor component, an observing image of the object;
• determining, with the processing module, an observing orientation of the image sensor component at the moment in time;
• determining, with the processing module, an observing location of the image sensor component at the moment in time;
• defining, with the processing module, a similar image set, wherein:
• the similar image set comprises the captured observing image and a particular rendered map image of the plurality of rendered map images;
• and
• the defining comprises determining that:
• the observing orientation of the captured observing image satisfies an orientation similarity comparison with the map orientation of the particular rendered map image;
• and
• the observing location of the captured observing image satisfies a location similarity comparison with the map location of the particular rendered map image;
• extracting, with a feature extractor model of the processing module, the following:
• an image feature map from the captured observing image of the similar image set;
• and
• a map feature map from the particular rendered map image of the similar image set;
• performing, with a correlation module of the processing module, a tensor correlation between the extracted image feature map and the extracted map feature map to determine the position of the object on the particular rendered map image;
• and
• based on the determined position of the object on the particular rendered map image, determining, with a raycasting module of the processing module, georeferenced three-dimensional coordinates of the object in the environment.