Indoor localization and mapping

A system comprising:

• memory;
• one or more processors configured to:
• receive a non-localized version of a map of an indoor area from a first mobile computing device;
• receive sensory data associated with the indoor area, wherein the sensory data has been collected from the indoor area using the first mobile computing device, the received sensory data including a set of data points, each data point including one or more wireless network access point identifiers, one or more corresponding signal strengths, and an image captured in the indoor area;
• generate a localized version of the map using the non-localized version of the map and the received sensory data, wherein the localized version of the map is a representation of the indoor area that indicates features of the indoor area on the map that correspond to the received sensory data, the localized version of the map comprising at least one visual indicator corresponding to the received sensory data, and wherein the at least one visual indicator includes one of the images of the set of data points;
• and
• store the localized version of the map in the memory.

A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:

• receiving a non-localized version of a map of an indoor area from a first mobile computing device;
• receiving sensory data associated with the indoor area, wherein the sensory data has been collected from the indoor area using the first mobile computing device, the received sensory data including a set of data points, each data point including one or more wireless network access point identifiers, one or more corresponding signal strengths, and an image captured in the indoor area;
• generating a localized version of the map using the non-localized version of the map and the received sensory data, wherein the localized version of the map is a representation of the indoor area that indicates features of the indoor area on the map that correspond to the received sensory data, the localized version of the map comprising at least one visual indicator corresponding to the received sensory data, and wherein the at least one visual indicator includes one of the images of the set of data points;
• and
• storing the localized version of the map for subsequent transmission to client devices.