Semantic Zone Separation for Map Generation

A system comprising:

• one or more processors configured to execute computer program instructions;
• and
• one or more computer-storage media encoded with one or more computer programs that, when executed by the one or more processors, cause the system to perform operations comprising:
• receiving a first set of data that represents a three-dimensional (3D) mapping of an environment;
• receiving a second set of data that represents an observation of the environment separate from the 3D mapping, the observation including representations of a plurality of objects in the environment observed by a sensing system;
• processing the first set of data and the second set of data to generate an object mapping of the environment;
• generating, based on the object mapping, a semantic mapping of the environment that includes semantic labels for a plurality of semantic zones in the environment;
• determining, based on the semantic mapping and for a robotic device instructed to locate a particular object type, one or more areas of the environment to prioritize searching for the particular object type;
• and
• causing the robotic device to search the one or more determined areas of the environment to locate the particular object type.

One or more computer-readable devices storing software comprising instructions executable by one or more computers which, upon such execution, cause the one or more computers to perform operations comprising:

• receiving a first set of data that represents a three-dimensional (3D) mapping of an environment;
• receiving a second set of data that represents an observation of the environment separate from the 3D mapping, the observation including representations of a plurality of objects in the environment observed by a sensing system;
• processing the first set of data and the second set of data to generate an object mapping of the environment;
• generating, based on the object mapping, a semantic mapping of the environment that includes semantic labels for a plurality of semantic zones in the environment;
• determining, based on the semantic mapping and for a robotic device instructed to locate a particular object type, one or more areas of the environment to prioritize searching for the particular object type;
• and
• causing the robotic device to search the one or more determined areas of the environment to locate the particular object type.