Abstract: Systems and methods discussed herein involve localization of a device. In one implementation, a discrepancy flag associated with a particular geographic location is received from a device operating in a geographic region over a network. The discrepancy flag is generated based on a comparison of a local localization map of the device with scan data for a field of view of at least one sensor of the device. The scan data is received from the device over the network. A segment of a global localization map corresponding to the discrepancy flag is updated using the scan data. A plurality of vehicles operating in the geographic region is identified. The segment of the global localization map is selectively pushed to the plurality of devices based on a network connectivity of each of the plurality of devices and a location of each of the plurality of devices within the geographic region.

Abstract: One variation of a method for detecting and managing changes along road surfaces for autonomous vehicles includes: at approximately a first time, receiving a first discrepancy flag from a first vehicle via a wireless network, the first discrepancy flag indicating a first discrepancy between a particular feature detected proximal a first geospatial location at the first time by the first vehicle and a particular known immutable surface—proximal the first geospatial location—represented in a first localization map stored locally on the first vehicle; receiving sensor data, representing the first discrepancy, from the first vehicle at approximately the first time; updating a first segment of a global localization map representing immutable surfaces proximal the first geospatial location based on the sensor data; and identifying a second vehicle currently executing a second route intersecting the first geospatial location.