A method of detecting a revisit position for simultaneous location and mapping, the method comprising: receiving at a computing system a plurality of position data points, each of the plurality of position data points including a radio frequency signal scan measurement; calculating, at the computing system, a first signal distance between a first radio frequency signal scan measurement corresponding to a first position data point of the plurality of position data points and a second radio frequency signal scan measurement corresponding to a second position data point of the plurality of position data points; determining, at the computing system, that the first signal distance is less than a first threshold, that the first signal distance is a local minimum for the first position data point, and that the first signal distance is a local minimum for the second position data point; and based on the determined distance, identifying, at the computing system, the first and second position data points as revisit points; wherein the determining step further includes determining that the elapsed time between the first position data point and the second position data point is above a second threshold; wherein the local minimum for the first position data point is calculated by determining that the first signal distance is less than a plurality of second signal distances between the first position data point and position data points adjacent to the second position data point; and wherein the local minimum for the second position data point is calculated by determining that the first signal distance is less than a plurality of second signal distances between the second position data point and position data points adjacent to the first position signal data point. receiving at a computing system a plurality of position data points, each of the plurality of position data points including a radio frequency signal scan measurement; calculating, at the computing system, a first signal distance between a first radio frequency signal scan measurement corresponding to a first position data point of the plurality of position data points and a second radio frequency signal scan measurement corresponding to a second position data point of the plurality of position data points; determining, at the computing system, that the first signal distance is less than a first threshold, that the first signal distance is a local minimum for the first position data point, and that the first signal distance is a local minimum for the second position data point; and based on the determined distance, identifying, at the computing system, the first and second position data points as revisit points; wherein the determining step further includes determining that the elapsed time between the first position data point and the second position data point is above a second threshold; wherein the local minimum for the first position data point is calculated by determining that the first signal distance is less than a plurality of second signal distances between the first position data point and position data points adjacent to the second position data point; and wherein the local minimum for the second position data point is calculated by determining that the first signal distance is less than a plurality of second signal distances between the second position data point and position data points adjacent to the first position signal data point.