Condition dependent parameters for large-scale localization and/or mapping

A method comprising:

• receiving first sensor data from a sensor of a vehicle;
• determining, based at least in part on the first sensor data, a condition associated with at least one of the vehicle or an environment surrounding the vehicle;
• determining, based at least in part on the condition, a parameter associated with a configuration of a mapping algorithm;
• adjusting, based at least in part on the parameter, operation of the mapping algorithm;
• and
• updating the map, based at least in part on additional LIDAR data and the parameter.

A non-transitory computer-readable medium having a set of instructions that, when executed, cause one or more processors to perform operations comprising:

• receiving sensor data from a sensor of an autonomous vehicle;
• determining, based at least in part on the sensor data, a condition associated with at least one of the autonomous vehicle or an environment surrounding the autonomous vehicle;
• adjusting, as an adjusted parameter and based at least in part on the condition, a parameter of a mapping component to increase clarity of a map generated by the mapping component;
• determining, based at least in part on the sensor data and the adjusted parameter, a map of the environment and a position of the autonomous vehicle in the environment;
• and
• updating the map, based at least in part on additional LIDAR data and the adjusted parameter.