Anchoring based transformation for aligning sensor data of a robot with a site model

A system comprising:

• data processing hardware;
• and
• memory in communication with the data processing hardware, the memory storing instructions that when executed on the data processing hardware cause the data processing hardware to:
• obtain a site model associated with a site;
• obtain sensor data captured from the site by at least one sensor of a robot;
• generate a virtual representation of the sensor data;
• identify a first association between the virtual representation of the sensor data and the site model;
• transform the virtual representation of the sensor data based on the first association to generate transformed data;
• and
• instruct display of a user interface, wherein the user interface reflects the transformed data overlaid on the site model.

A robot comprising:

• at least one sensor;
• at least two legs;
• data processing hardware in communication with the at least one sensor;
• and
• memory in communication with the data processing hardware, the memory storing instructions that when executed on the data processing hardware cause the data processing hardware to:
• obtain sensor data captured from a site by the at least one sensor, wherein the site is associated with a site model;
• provide the sensor data to a computing system for generation of a virtual representation of the sensor data, wherein the virtual representation of the sensor data is associated with the site model via a first association, wherein the virtual representation of the sensor data is transformed based on the first association to generate transformed data, wherein a user interface reflects the transformed data overlaid on the site model;
• obtain one or more instructions to traverse the site based on the user interface;
• and
• instruct traversal of the site using the at least two legs based on the one or more instructions.