SLAM systems are provided that utilize an artificial neural network to both map environments and locate positions within the environments. In some example embodiments, a sensor arrangement is used to map an environment. The sensor arrangement acquires sensor data from the various sensors and associates the sensor data, or data derived from the sensor data, with spatial regions in the environment. The sensor data may include image data and inertial measurement data that effectively describes the visual appearance of a spatial region at a particular location and orientation. This diverse sensor data may be fused into camera poses. The map of the environment includes camera poses organized by spatial region within the environment. Further, in these examples, an artificial neural network is adapted to the features of the environment by a transfer learning process using image data associated with camera poses.