Marker aided three-dimensional mapping and object labeling

A method for generating a three-dimensional map of a property, the method comprising:

• storing at least a portion of an initial map modification data structure;
• receiving an instruction that is configured to instruct a robotic device to initiate property mapping;
• determining that image data describing a portion of the property depicts one or more markers, wherein the image data is collected by a camera that is mounted to the robotic device;
• in response to determining that the image data depicts one or more markers, determining a pose of the camera that is mounted to the robotic device;
• updating the initial map modification data structure using the pose of the camera that is mounted to the robotic device;
• determining, based on the initial map modification data structure that was updated, that an initial three-dimensional map of the property should be adjusted to include a label identifying one or more features of the property that is undetectable (i) by the camera that is mounted to the robotic device or (ii) by mapping sensors of the robotic device;
• and
• labeling a particular portion of the initial three-dimensional map of the property using data stored in the updated map modification data structure.

At least one non-transitory computer-readable storage media storing instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• storing at least a portion of an initial map modification data structure;
• receiving an instruction that is configured to instruct the robotic device to initiate property mapping;
• determining that image data describing a portion of the property depicts one or more markers, wherein the image data is collected by a camera that is mounted to the robotic device;
• in response to determining that the image data depicts one or more markers, determining a pose of the camera that is mounted to the robotic device;
• updating the initial map modification data structure using the pose of the camera that is mounted to the robotic device;
• determining, based on the initial map modification data structure that was updated, that an initial three-dimensional map of the property should be adjusted to include a label identifying one or more features of the property that is undetectable (i) by the camera that is mounted to the robotic device or (ii) by mapping sensors of the robotic device;
• and
• labeling a particular portion of the initial three-dimensional map of the property using data stored in the updated map modification data structure.