Patent ID: 11912304
Assignee: AMAZON TECHNOLOGIES, INC.
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 12:
13. A method comprising:
determining a map of a physical space relative to a first reference pose;
retrieving first data indicative of a first pose within the physical space, wherein an origin for the map of the physical space is associated with the first pose;
moving a device in a first direction and a first distance from the first pose to a second pose;
determining, based at least on the first direction and the first distance, second data indicative of the second pose;
determining, at the second pose and using one or more sensors, first sensor data indicative of a first set of features of the physical space;
determining, based on the first set of features, third data indicative of a third pose;
determining a variance between the second pose and the third pose;
determining that the variance exceeds a variance threshold;
based on the variance exceeding the variance threshold, determining that a dock has moved;
determining, based on the dock having moved, fourth data that is indicative of a relationship of the first reference pose with respect to the third pose;
determining a second reference pose;
based on the fourth data, updating the map so that the map is relative to the second reference pose; and
moving, based on the fourth data and on the map, the device.