Learned occlusion modeling for simultaneous localization and mapping

Abstract

Techniques and systems are provided for image generation. For instance, a process can include receiving a location for a device and a map of feature points in the environment; predicting whether one or more feature points of the map of feature points are visible by at least one sensor from the location based on history information related to at least a plurality of feature points included in the map of feature points, wherein the history information indicates previous locations of the device and feature points of the map visible by the at least one sensor from the previous locations; and determining a location of the device in the environment based on the one or more feature points predicted to be visible by the at least one sensor from the location.

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