Physical models for hierarchical clustering and symbolic inference

Abstract

Embodiments herein describe a robotic system that uses range sensors to identify a vector map of an environment. The vector map includes lines that outline the shape of objects in the environment (e.g., shelves on the floor of a warehouse). The system identifies one or more line segments representing the boundary or outline of the objects in the environment using range data acquired by the range sensors. The robotic system can repeat this process at different locations as it moves in the environment. Because of errors and inaccuracies, line segments formed at different locations may not clearly align even when these line segments correspond to the same object. To account for this error, the robotic system match line segments identified at a first location with line segments identified at a second location. The matched line segments can be merged into a line that is stored in the vector map.