Exemplar robot localization

A system comprising one or more computers and one or more storage devices on which are stored instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:

• obtaining sensor data from a robot indicating a traversed route at a property and that was captured at a captured sampling rate, wherein the sensor data indicates at least a portion of the traversed route at the property;
• determining a data processing sampling rate for sampling one or more data frames of the sensor data;
• selecting, from a plurality of sensor data subsets that each include data for navigating using localization and that are each for a different data processing sampling rate, a subset of the sensor data for use during a localization process using the determined data processing sampling rate, wherein the subset of the sensor data includes data frames of the sensor data obtained along the route at the property;
• and
• storing, in memory, the selected subset of the sensor data for use as localization exemplars during a localization process by a second robot.

One or more computer storage media encoded with instructions that, when executed by one or more computers, cause the one or more computers to perform operations comprising:

• obtaining sensor data from a robot indicating a traversed route at a property and that was captured at a captured sampling rate, wherein the sensor data indicates at least a portion of the traversed route at the property;
• determining a data processing sampling rate for sampling one or more data frames of the sensor data;
• selecting, from a plurality of sensor data subsets that each include data for navigating using localization and that are each for a different data processing sampling rate, a subset of the sensor data for use during a localization process using the determined data processing sampling rate, wherein the subset of the sensor data includes data frames of the sensor data obtained along the route at the property;
• and
• storing, in memory, the selected subset of the sensor data for use as localization exemplars during a localization process by a second robot.