Systems and methods for embedding feature data in computer readable maps for improved control and insight generation

A non-transitory computer-readable medium comprising computer-readable instructions stored thereon that, when executed by at least one processor of a mobile robot, cause the processor to:

• detect a power-on event of the mobile robot at an unknown location within a physical environment;
• receive, from a camera physically mounted on the mobile robot, a first image of the physical environment captured from the unknown location;
• encode the first image into a first feature embedding vector using an image encoder implemented on the processor;
• access, from a memory of the mobile robot, a computer-readable map representing the physical environment, the map comprising a plurality of feature embedding vectors generated from images previously captured by the mobile robot during prior navigation within the physical environment, wherein each feature embedding vector is stored at a respective physical location coordinate in the map;
• determine a degree of similarity between the first feature embedding vector and each of the plurality of feature embedding vectors in the computer-readable map;
• identify, based on the degree of similarity, one or more matching feature embedding vectors from the computer-readable map that exceed a similarity threshold, wherein the identified matching feature embedding vectors correspond to one or more pixels in the first image that depict features at the unknown location;
• and
• localize the mobile robot at the unknown location based on position of the mobile robot relative to the one or more pixels determined to have the degree of similarity, wherein the localizing enables the mobile robot to autonomously navigate within the physical environment.