Patent Document ID: 9992480
Application ID: 15158448
Patent Status: 1

Claim One:
1. A method, comprising: capturing, by a camera sensor of a robot, a first image that captures at least a portion of an environment of the robot, the portion of the environment being captured in the first image from a first vantage and being captured through reflections of two or more mirrors; subsequent to capturing the first image, adjusting a mirror pose of at least a first mirror of the two or more mirrors, the adjusting being to an adjusted pose and the adjusting occurring independent of locomotion of the robot and independent of adjusting a camera sensor pose of the camera sensor; capturing, by the camera sensor of the robot when the first mirror is at the adjusted pose, a second image that captures at least the portion of the environment from a second vantage, the capturing from the second vantage being a result of adjusting the first mirror pose to the adjusted pose; determining at least one feature of the portion of the environment of the robot based on both the first image and the second image; and assigning, in one or more computer readable media, the feature to an identifier of the portion of the environment.