Incorporating uncertain sensor timestamps in a slam system

A vehicle control system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations comprising
• append a first counter value to location data that correlates timing of generation of the location data with generation of the first counter value;
• append a second counter value to image data that correlates timing of generation of the image data with generation of the second counter value;
• when the location data and the image data include a landmark:
• incrementally synchronize the location data with the image data using the first counter value and the second counter value;
• generate an ellipsoid of potential locations of the landmark adjacent to a vehicle comprising the vehicle control system;
• and
• generate a mapping of the vehicle in an environment that includes the ellipsoid of potential locations of the landmark.

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• append a first counter value to location data that correlates timing of generation of the location data with generation of the first counter value;
• append a second counter value to image data that correlates timing of generation of the image data with generation of the second counter value;
• when the location data and the image data include a landmark:
• incrementally synchronize the location data with the image data using the first counter value and the second counter value;
• generate an ellipsoid of potential locations of the landmark adjacent to a vehicle;
• and
• generate a mapping of the vehicle in an environment that includes the ellipsoid of potential locations of the landmark.