Abstract: A system and method are described that provide for mapping features of a warehouse environment having improved workflow. In one example of the system/method of the present invention, a mapping robot is navigated through a warehouse environment, and sensors of the mapping robot collect geospatial data as part of a mapping mode. A Frontend N block of a map framework may be responsible for reading and processing the geospatial data from the sensors of the mapping robot, as well as various other functions. The data may be stored in a keyframe object at a keyframe database. A Backend block of the map framework may be useful for detecting loop constraints, building submaps, optimizing a pose graph using keyframe data from one or more trajectory blocks, and/or various other functions.

Abstract: In a method for subpixel disparity calculation, image data for various images each representing a field of view of an input device is received by a processor, and the image data is applied to a machine learning model. The machine learning module uses the image data to compute an output representing calculated subpixel disparity between the various images. In an example of the method, the machine learning model is a neural network that produces accurate and reliable subpixel disparity estimation in real-time using synthetically generated data.