Distributed device mapping

A system comprising:

• at least one processor;
• and
• a memory storing instructions that, when executed by the at least one processor, cause the system to perform operations comprising:
• determining a sub-sample frequency based on an uncertainty value calculated from an uncertainty function based on a speed of a device, wherein the uncertainty value satisfies a threshold uncertainty value;
• causing the device to capture sensor data of an environment the sub-sample frequency;
• determining an estimated position of a landmark in the environment based on triangulation from the sensor data captured at the sub-sample frequency;
• determining a global position of the landmark in a map associated with the environment;
• and
• updating the global position of the landmark in the map based on the estimated position of the landmark.

A non-transitory computer-readable storage medium including instructions that, when executed by at least on processor of a computing system, cause the computing system to perform operations comprising:

• determining a sub-sample frequency based on an uncertainty value calculated from an uncertainty function based on a speed of a device, wherein the uncertainty value satisfies a threshold uncertainty value;
• causing the device to capture sensor data of an environment the sub-sample frequency;
• determining an estimated position of a landmark in the environment based on triangulation from the sensor data captured at the sub-sample frequency;
• determining a global position of the landmark in a map associated with the environment;
• and
• updating the global position of the landmark in the map based on the estimated position of the landmark.