1. A simultaneous localization and mapping (SLAM) system comprising: a memory storing a plurality of layers of an artificial neural network trained using training data, the plurality of layers comprising a penultimate layer trained while the artificial neural network comprised the penultimate layer and a classification layer; and at least one processor coupled to the memory and configured to: receive sensor data descriptive of a plurality of spatial regions, the sensor data including image data; train, using the image data, a new classification layer to identify spatial regions of the plurality of spatial regions using output from the penultimate layer; implement a new artificial neural network using the plurality of layers and the new classification layer; provide new sensor data descriptive of a spatial region of the plurality of spatial regions to the new artificial neural network; receive, from the new artificial neural network, information identifying the spatial region of the plurality of spatial regions; identify one or more keyframes associated with the spatial region; and identify at least one camera pose using the one or more keyframes associated with the spatial region.