公开(公告)号：US20220341906A1

公开(公告)日：2022-10-27

申请号：US17240232

申请日：2021-04-26

Applicant: X Development LLC

Inventor： Daniel Lam ,  Justine Rembisz ,  Asa Weiss ,  Benjamin Holson

IPC: G01N33/00 ,  G05D1/02 ,  G01K3/14

Abstract: A method includes receiving data collected by at least one sensor on a robotic device, wherein the data is to be used for an ambient environment state representation, and wherein the data represents ambient environment measurements collected at locations of the at least one sensor when the robotic device is passively monitoring an environment such that robotic device navigation is not based on the ambient environment state representation. The method further includes determining the ambient environment state representation using the data collected by the at least one sensor on the robotic device. The method also includes identifying, based on the ambient environment state representation, one or more anomalous ambient environment measurements. The method additionally includes causing, based on the one or more identified anomalous ambient environment measurements, the robotic device to actively monitor the environment such that robotic device navigation is based on the ambient environment state representation.