Post-processing of mapping data for improved accuracy and noise-reduction

Abstract

Techniques are disclosed for post-processing mapping data in a movable object environment. A method for post-processing mapping data can include obtaining a plurality of scans, each scan comprising georeferenced mapping data and corresponding payload pose data obtained from a payload supported by an unmanned aerial vehicle (UAV), generating a plurality of local maps based on matching portions of the plurality of scans using the georeferenced mapping data, generating a pose graph based on identifying a plurality of correspondence points among the plurality of local maps, and optimizing the pose graph by minimizing an error distance between each pair of correspondence points to obtain optimized transforms for two scans among the plurality of the scans.