OBJECT AIDED LOCALIZATION WITHOUT COMPLETE OBJECT INFORMATION

Techniques and systems are provided for localization of an apparatus. For instance, a process can include: obtaining a map of an environment, the map including a map point representing an object in the environment; obtaining image data including the object in the environment, wherein the image data is associated with a camera pose; obtaining point information from the obtained image data, the obtained point information describing two or more points of the object in the obtained image data; determining whether to associate the point information with the map point based, at least in part, on a comparison of the map point and an estimated point, wherein the estimated point is estimated based on the camera pose and point information; and based on the determination to associate the point information with the map point, associating the point information with the map point to localize an apparatus.