Patent ID: 11967161
Assignee: AMAZON TECHNOLOGIES, INC.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 17:
18. One or more non-transitory computer-readable media comprising computer-executable instructions that, when executed by a computing system, cause the computing system to:
process, from a plurality of sources comprising a plurality of sensors mounted to a delivery device or at least one sensor mounted to the delivery device and a map source including a map of an environment of the delivery device, a plurality of respective inputs;
extract features from each of the plurality of respective inputs;
identify a plurality of features in the environment of the delivery device at locations relative to the delivery device based on a combination of extracted features from two or more of the plurality of respective inputs, the plurality of features including a plurality of terrain types, wherein each of the plurality of identified features is associated with state information identifying the identified feature;
identify confidence scores for each of the identified features, wherein the confidence score indicates a probability that the state information for each identified feature is correct; and
navigate the delivery device through the environment to deliver an item from a first location to a second location based on a partitioned map for the environment, the identified plurality of features in the environment, and traversability scores for individual terrain types of the plurality of terrain types, and wherein the traversability scores are measured based on traversability of each pixel or portion of the map relative to other pixels or portions of the map during the navigation.