Systems and Methods of Merging Multiple Maps for Computer Vision Based Tracking

Method, apparatus, and computer program product for merging multiple maps for computer vision based tracking are disclosed. In one embodiment, a method of merging multiple maps for computer vision based tracking comprises receiving a plurality of maps of a scene in a venue from at least one mobile device, identifying multiple keyframes of the plurality of maps of the scene, and merging the multiple keyframes to generate a global map of the scene.