Patent ID: 11915436
Assignee: ZOOX, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
receiving first sensor data representative of a physical environment;
receiving reference data representative of the physical environment, the reference data comprising a voxel space;
determining an alignment between the first sensor data with the reference data based at least in part on iteratively:
determining, based at least in part on one or more of a translation or a rotation of the first sensor data, transformed data;
projecting the transformed data into voxel space; and
determining a difference between the transformed data and

the reference data;
generating merged map data by merging a first voxel associated with the first sensor data and a second voxel associated with the reference data based at least in part on a combined covariance matrix determined based at least in part on a portion of the first sensor data and the reference data, wherein generating merged map data comprises:
determining a neighborhood associated with the second voxel;
identifying a set of voxels associated with the sensor data within the neighborhood, the
set of voxels including the first voxel; and
determining the first voxel to merge with the second voxel based at least in part on the first voxel having a centroid closest to the second voxel in the voxel space; and
outputting the merged map data.