Method and system for portable perception sensor-based three-dimensional mapping

A system for building a map for a venue encompassing at least one portable device conveyed by a user using perception sensor data from the portable device, wherein the system is scalable to accommodate any complexity of the venue and wherein the system is configured to be operable for limited resources of the at least one portable device, the system comprising:

• at least one portable device having a sensor assembly configured to output motion sensor data;
• at least one perception sensor providing perception sensor data for the at least one portable device;
• and
• at least one processor, coupled to receive the motion sensor data, the perception sensor data, and operative to:
• a) obtain motion sensor data from a sensor assembly of the at least one portable device,
• b) obtain perception sensor data from at least one perception sensor for the at least one portable device;
• c) generate a navigation solution for the at least one portable device based at least in part on the obtained motion sensor data;
• and
• d) build a 3D geometrical map for the venue using perception sensor data based at least in part on the navigation solution, wherein building the map at least partially compensates for sensor drift, accommodates the limited resources of the at least one portable device and provides scalability despite the complexity of the venue by:
• i) building individual 3D maps for zones, wherein the zones are spatially related and each zone is a partition of the venue;
• ii) for a subset of zones, wherein each subset comprises a same number of spatially related zones that are contiguous with each other, correcting each subset of the spatially related zones and propagating the correction to each zone in the subset and correcting each 3D map of the zones in each subset;
• iii) aggregating corrected subsets and correcting the aggregated corrected subsets by forming a plurality of aggregate transformations followed by correcting each 3D map of the zones in each subset of the aggregate of subsets;
• and
• iv) performing a geodetic correction of the aggregated corrected subsets and geodetically correcting the 3D maps of the zones in each subset in the aggregate of subsets.