Map Refinement for Inside-Out Location Tracking and Mapping System

A system for map refinement for inside-out location tracking, the system comprising:

• a memory comprising non-transitory computer-readable storage medium configured to store instructions and data, the data being stored in an associative data structure;
• and
• a processor communicatively coupled to the memory, the processor configured to execute instructions stored on the non-transitory computer-readable storage medium to:
• compute a transform from a reference point to an epipolar line using an Essential Matrix derived from a reference frame camera motion in a live frame;
• compute a first appearance error between a first feature associated with the reference point and a second feature;
• compute a second appearance error between the first feature and a third feature using a perpendicular projection hypothesis;
• estimate a direction and a step size along the epipolar line using linear systems theory, thereby generating an optimized point on the epipolar line;
• compute a third appearance error between the first feature and a fourth feature associated with the optimized point;
• evaluate the first, second, and third appearance errors using a greedy, ordered optimization;
• and
• if the appearance error is less than a predetermined quality threshold, retain the optimized point in tracking data,
• otherwise reset the tracking data at a location associated with the reference point for reinitialization.