System for sensor fusion for autonomous mobile device

A method comprising:

• acquiring first sensor data, wherein:
• the first sensor data is acquired by a first sensor of a device, and
• the first sensor is of a first type;
• determining, based on the first sensor data, first layer data that is representative of:
• a first plurality of areas, wherein each area of the first plurality of areas is associated with an area in a physical space, and
• a first plurality of values, wherein each value of the first plurality of values is associated with a corresponding area of the first plurality of areas and is indicative of whether the corresponding area includes an obstacle;
• acquiring second sensor data, wherein:
• the second sensor data is acquired by a second sensor of the device, and
• the second sensor is of a second type that is different from the first type;
• determining, based on the second sensor data, second layer data that is representative of:
• the first plurality of areas, and
• a second plurality of values, wherein each value of the second plurality of values is associated with the corresponding area of the first plurality of areas and is indicative of whether the corresponding area includes an obstacle;
• acquiring third sensor data, wherein the third sensor data is acquired by a third sensor of the device;
• determining, based on the third sensor data, third layer data that is representative of:
• the first plurality of areas, and
• a third plurality of values, wherein each value of the third plurality of values is associated with the corresponding area of the first plurality of areas and is indicative of whether the corresponding area includes an obstacle;
• determining an aggregation profile for performing a task;
• based on the aggregation profile, selecting two of the first layer data, the second layer data, or the third layer data;
• determining aggregated data based on the selected two of the first layer data, the second layer data, or the third layer data;
• and
• causing the device to move within the physical space based on the aggregated data.

A device comprising:

• one or more processors;
• one or more memories storing computer-executable instructions which, when executed using the one or more processors, cause the one or more processors to:
• acquire first sensor data, wherein:
• the first sensor data is acquired by a first sensor of the device, and
• the first sensor is of a first type;
• determine state data associated with the device, wherein the state data is indicative of one or more of:
• a pose of the device,
• a location of the device, or
• an orientation of the device;
• determine, based at least in part on the first sensor data and the state data, first layer data that is representative of:
• a first plurality of areas, wherein each area of the first plurality of areas is associated with a corresponding area in a physical space, and
• a first plurality of values, wherein each value of the first plurality of values is indicative of whether the corresponding area includes an obstacle;
• acquire second sensor data, wherein:
• the second sensor data is acquired by a second sensor of the device, and
• the second sensor is of a second type that is different from the first type;
• determine, based at least in part on the second sensor data and the state data, second layer data that is representative of:
• the first plurality of areas, and
• a second plurality of values, wherein each value of the second plurality of values is indicative of whether the corresponding area includes an obstacle;
• determine aggregated data based on the first layer data and the second layer data;
• and
• move the device within the physical space based on the aggregated data.