Detecting and resolving disparities between map data and environments perceived by sensor systems

Abstract

Techniques are discussed herein for detecting and resolving disparities between sensor data perceived by sensor-based systems operating in an environment and corresponding map data of the environment. Sensor data may be captured by a vehicle or other sensor system operating in an environment, including representations of objects at various locations in the environment. The object representations may be used to determine disparities between the sensor data and map data associated with the same locations. Such disparities may be caused by, for example, physical changes in the environment, map data changes, and/or localization errors of the sensor system. The techniques discussed herein further include analyzing the map data and sensor data to determine causes associated with the disparities, and resolving the disparities by updating the map data and/or transmitting updated sensor configuration data to sensor systems in the environment.