Loading Multi-Resolution Maps for Localization

A method comprising:

• determining a location of a sensor system in an environment;
• determining to load, into a working memory, a map tile representing a region of the environment, wherein the determining to load is based at least in part on:
• determining that a sensor of the sensor system can capture sensor data representing the region;
• or
• accessing a predetermined association between the location of the sensor system and the region of the environment, wherein the predetermined association indicates the map tile of a set of map tiles and
• a level of detail of the map tile of the set of map tiles;
• loading, into the working memory, the map tile representing the region;
• capturing, by the sensor system, sensor data;
• and
• performing an action based at least in part on the map tile and the sensor data, wherein the action includes at least one of a localization action, a perception action, a prediction action, or a planning action.

A non-transitory computer-readable medium storing instructions that, when executed, cause one or more processors to perform operations comprising:

• determining a location associated with a sensor system in an environment;
• determining to load, into a working memory, a map tile representing a region of the environment, wherein the determining to load is based at least in part on:
• determining that the region is un-occluded to a sensor of the sensor system;
• or
• accessing a predetermined association between the location of the sensor system and the region of the environment, wherein the predetermined association indicates the map tile of a set of map tiles and
• a level of detail of the map tile of the set of map tiles;
• capturing, by the sensor system, sensor data;
• and
• performing an action based at least in part on the map tile and the sensor data, wherein the action includes at least one of a localization action, a perception action, a prediction action, or a planning action.