Sensor perturbation

A method comprising:

• receiving first sensor data and second sensor data, the first sensor data associated with a first position and first orientation and the second sensor data associated with a second position and second orientation;
• associating the first sensor data and the second sensor data with a voxel space;
• determining, based at least in part on the first sensor data and the second sensor data, a value associated with a portion of the voxel space, wherein the value represents a measure of planarity of a subset of the first sensor data and the second sensor data that falls within the portion and is indicative of how well the subset conforms to a common plane of the first portion;
• determining, as a transform and based at least in part on the value, one or more of a rotation or a translation to apply to the second sensor data, wherein the transform represents a first pose associated with the first sensor data relative to a second pose associated with the second sensor data, wherein determining the transform comprises perturbing a pose associated with the second sensor data by a magnitude and along one or more of a directional dimension or an orientation dimension;
• and
• controlling, based at least in part on the transform, an operation of a sensor or a vehicle.

One or more non-transitory computer-readable storage media communicatively coupled to one or more processors and storing instructions that are executable by the one or more processors to perform operations comprising:

• receiving first sensor data and second sensor data;
• associating the first sensor data and the second sensor data with a voxel space;
• determining, based at least in part on a portion of the voxel space, a value, wherein the value represents a measure of planarity of a subset of the first sensor data and the second sensor data that falls within the portion and is indicative of how well the subset conforms to a common plane of the first portion;
• determining, based at least in part on the value, a transform to align the first sensor data and the second sensor data, wherein the transform represents a first pose associated with the first sensor data relative to a second pose associated with the second sensor data, wherein determining the transform comprises perturbing a pose associated with the second sensor data by a magnitude and along one or more of a directional dimension or an orientation dimension;
• and
• controlling, based at least in part on the transform, an operation of a sensor associated with the second sensor data or a vehicle associated with the second sensor data.