Patent ID: 8798840

Claim:
A method of mapping parameters acquired by a robotic system in an environment, the method comprising: driving the robotic system in the environment; measuring a first set of parameters that characterize the environment; estimating a first current pose of the robotic system; defining a first anchor node representing an estimate of the first current pose, wherein the first anchor node is one of a plurality of anchor nodes; generating a first grid associated with the first anchor node, wherein the first grid comprises a map of the first set of measured parameters, wherein the first set of measured parameters are mapped relative to the first pose; after driving a determined period of time, determining an estimate of a second current pose of the robotic system; determining an uncertainty between the estimate of the second current pose and the first current pose; and if the uncertainty is greater than a first threshold, then: a) defining a second anchor node representing to the estimate of the second current pose of the robotic system; and b) generating a second grid associated with the second anchor node, wherein the second grid comprises a map of a second set of measured parameters mapped relative to the second current pose.