Patent ID: 8830091

Claim:
An apparatus for autonomous localization and mapping, the apparatus comprising: a visual sensor configured to visually observe an environment; a processor configured to execute computer instructions; a tangible, non-transitory computer readable medium configured to store a computer program, wherein the computer program comprises: program instructions configured to maintain a map of landmarks in a data store, where the map of landmarks is based at least in part on visual observations of the environment; program instructions configured to receive data from a dead reckoning sensor, where data from the dead reckoning sensor relates to movement of the visual sensor within the environment; program instructions configured to use data from the dead reckoning sensor and a prior pose estimate to predict a device pose in a global reference frame at least partly in response to a determination that a known landmark has not been encountered; and program instructions configured to use data from the visual sensor to predict a new device pose in the global reference frame at least partly in response to a determination that a known landmark has been recognized, where the new device pose estimate is based at least in part on a previous pose estimate associated with the known landmark and using the visual sensor data to update the map; wherein the data from the visual sensor comprises 2D image coordinates of features associated with the recognized landmark.