1. A method for computer vision object occlusion handling, the method comprising: projecting map points observable from a 3D map to points of a keyframe, wherein the keyframe comprises an image with an associated camera viewpoint; creating, from each of the points of the keyframe, a depth map comprising a plurality of depth map points, wherein each depth map point comprises a value representing a distance from the keyframe's associated camera viewpoint to a respective map point from the 3D map, and wherein if a depth map point represents a plurality of respective map point distances, the value comprises a smallest of the plurality of respective map point distances; identifying potentially visible points in the keyframe, the potentially visible points comprising the points of the keyframe having a representative distance within the depth map; selecting a plurality of the potentially visible points to test for visibility in the image; testing the selected plurality of the potentially visible points for visibility, wherein the testing comprises determining whether each of the plurality of the potentially visible points comprises a surrounding image patch from the keyframe that corresponds to an image patch from the 3D map; and mapping an environment according to results from the testing for visibility.