Patent Document ID: 20150261223
Application ID: 14307402
Patent Status: 0

Claim One:
1. A mapping system configured to map parameters acquired by a robotic system in an environment, the mapping system comprising: non-volatile memory configured to store computer-executable instructions; and a hardware processor in communication with the non-volatile memory, the hardware processor configured to execute the computer-executable instructions to at least: measure a first set of parameters that characterize the environment; estimate a first current pose of the robotic system at a first location in the environment; define a first anchor node representing the estimate of the first current pose; generate 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; determine an estimate of a second current pose of the robotic system at a second location in the environment; determine an uncertainty between the estimate of the second current pose and the estimate of the first current pose; and if the uncertainty is greater than a first threshold, then: generate a second grid associated with a second anchor node, the second anchor node representing the estimate of the second current pose of the robotic system, wherein the second grid comprises a map of a second set of measured parameters mapped relative to the second current pose.