Hierarchical Map Relaxation for Inside-Out Location Tracking and Mapping System

A system for hierarchical map relaxation 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:
• receive as input a bijective mapping of a source image to a target image, the bijective mapping comprising a first hierarchical image pyramid for the source image and a second hierarchical image pyramid for the target image, each of the first and the second hierarchical image pyramids comprising a base level L=0 and N levels above the base level;
• generate a pair of image patches comprising a first P×P patch of a coordinate of the source image in the top level of the first hierarchical image pyramid and a second P×P patch of a corresponding coordinate mapped in the target image in the top level of the second hierarchical image pyramid, the pair of image patches indicating a pair of intensity values associated with the first P×P patch and the second P×P patch;
• if a local map update is received from a level above, evaluate the local map update by performing a greedy evaluation;
• estimate an error vector between the pair of image patches in the top level;
• find a local map update vector for minimizing the error vector;
• expand the local map update vector into a level below in the second hierarchical image pyramid;
• repeat the steps of evaluating the local map update, estimating the error vector, finding the local map update vector, and expanding the local map update vector into the level below at each successive level L of the first and the second hierarchical image pyramids;
• and
• within the base level, evaluate the local map update from L=1, estimate another error vector, and evaluate another local map update vector.