Method and apparatus for combining data to construct a floor plan

A robot for perceiving a spatial model of an environment, comprising:

• an actuator configured to move the robot through the environment;
• at least one sensor mechanically coupled to the robot;
• a processor configured to receive sensed data from the at least one sensor and control the actuator;
• and
• memory storing instructions that when executed by the processor effectuates operations comprising:
• capturing a plurality of data by the at least one sensor of the robot while the robot moves within the environment, wherein:
• the plurality of data comprises first data comprising pixel characteristics indicative of features of the environment and second data indicative of depth to objects in the environment;
• the first data and the second data are captured by at least one of:
• a same sensor;
• a same sensor in combination with structured light emissions;
• and
• at least one depth sensor;
• the plurality of data is captured from different positions within the environment through which the robot moves, the plurality of data corresponding with respective positions from which the plurality of data was captured;
• and
• the plurality of data captured from the respective positions within the environment corresponds to respective fields of view from which the plurality of data was captured;
• and aligning, with a processor of the robot, the plurality of data as it is captured to more accurately perceive the spatial model of the environment.