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

Claim 7:
8. A method comprising:
receiving first data representative of a physical environment;
receiving second data representative of the physical environment;
iteratively (1) determining one or more of a translation or a rotation of the first data and (2) associating, based at least in part on the one or more of the translation or the rotation, the first data with a voxel space associated with the second data, until a threshold is met;
generating map data by generating a combined covariance matrix of a first voxel associated with the first data and a second voxel associated with the second data, wherein generating map data comprises:
determining a neighborhood associated with the second voxel;
identifying a set of voxels associated with the first data within the neighborhood, the set of voxels including the first voxel; and
selecting the first 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 map data.