Patent Document ID: 9664521
Application ID: 14262627
Patent Status: 1

Claim One:
1. A computer-implemented method of localizing a trackee at a location and generating or updating a map of the location based on 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 a combination of: inertial sensor data, magnetic data, radiation data, and signal strength data, wherein the at least one sensor feature includes a plurality of measurements that measure a motion of the trackee at the location and being identified based on a first subset of the plurality of measurements; utilizing the at least one sensor feature, that includes a plurality of measurements that measure a motion of the trackee at the location, to identify a landmark at the location; determining, by a localization and mapping module, a location estimate that estimates the 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 landmark position of the landmark is determined based on the location estimate; generating a feature message that includes information unique to the landmark and the landmark position on a path of the trackee; generating or updating the map based on the feature message.