Post-processing of mapping data for improved accuracy and noise-reduction

A system, comprising:

• a movable object;
• a payload coupled to the movable object;
• a computing device including at least one processor and a memory, the memory including instructions which, when executed by the at least one processor, cause the computing device to:
• obtain a plurality of scans from the payload, each scan comprising georeferenced mapping data and corresponding payload pose data obtained from the payload;
• generate a plurality of local maps based on matching portions of the plurality of scans using the georeferenced mapping data;
• generate a pose graph from the plurality of local maps, including identifying a plurality of pairs of correspondence points each including two correspondence points from two of the plurality of local maps, respectively, and representing a same point in space;
• and
• optimize the pose graph by minimizing a distance between the two correspondence points in each of the plurality of pairs of correspondence points to obtain optimized transforms each for two of the plurality of the scans.

A non-transitory computer readable storage medium including instructions stored thereon which, when executed by a processor, cause the processor to:

• obtain a plurality of scans, each scan comprising georeferenced mapping data and corresponding payload pose data obtained from a payload supported by a movable object;
• generate a plurality of local maps based on matching portions of the plurality of scans using the georeferenced mapping data;
• generate a pose graph from the plurality of local maps, including identifying a plurality of pairs of correspondence points each including two correspondence points from two of the plurality of local maps, respectively, and representing a same point in space;
• and
• optimize the pose graph by minimizing a distance between the two correspondence points in each of the plurality of pairs of correspondence points to obtain optimized transforms each for two of the plurality of the scans.