Patent ID: 8751151

Claim:
A computer-implemented method of localizing a trackee at a location and generating or updating a map of the location based on inertial sensor information, the method being implemented on a computer system that includes one or more physical processors programmed by one or more modules, the method comprising: identifying, by a feature detection module, at least one sensor feature based on inertial sensor information that includes a plurality of measurements that measure a motion of the trackee at the location, the at least one sensor feature being identified based on a first subset of the plurality of measurements; identifying, by the feature detection module, a structural feature of the location using only the at least one sensor feature; determining, by a localization and mapping module, a location estimate that estimates a location of the trackee based on at least a second subset of the plurality of measurements that is the same as or different from the first subset of the plurality of measurements, wherein a position of the structural feature is determined based on the location estimate; and generating or updating, by the localization and mapping module, a map of the location based on the structural feature.