Repeatability predictions of interest points

A computer-implemented method, comprising:

• receiving first identification of a first location of a client device;
• generating a summary map of a vicinity of the location of the client device based on a plurality of interest points located in the vicinity of the location of the client device;
• receiving a second identification of a second location of the client device;
• determining a repeatability score of each interest point in the plurality of interest points based on sensor data collected by the client device at the second location;
• updating the summary map by adding interest points not in the summary map based on each additional interest point having a repeatability score above a threshold value;
• and
• sending the updated summary map to the client device.

A non-transitory computer readable storage medium configured to store instructions, the instructions that, when executed by a processor, cause the processor to:

• receive first identification of a first location of a client device;
• generate a summary map of a vicinity of the location of the client device based on a plurality of interest points located in the vicinity of the first location of the client device;
• receive a second identification of a second location of the client device;
• determine a repeatability score of each interest point in the plurality of interest points based on sensor data collected by the client device at the second location;
• update the summary map by adding or removing a subset of interest points from the summary map based a repeatability score of each respective interest point;
• and
• send the updated summary map to the client device.