Systems and methods for map alignment for autonomous mobile system navigation

A system for automatically aligning a source electronic map with a target electronic map different from the source electronic map to facilitate navigation and localization by one or more autonomous mobile systems within an environment, the system comprising:

• a processor, configured to:
• receiving the source electronic map provided by a first fleet of autonomous mobile systems in a first modality format, the first fleet of autonomous mobile systems comprising at least one autonomous mobile system configured for a first operational goal within the environment that is suitable with the first modality format of the source electronic map;
• receiving the target electronic map provided by a second fleet of autonomous mobile systems in a second modality format, the second modality format being different than the first modality format, and the second fleet of autonomous mobile systems comprising at least one autonomous mobile system configured for a second operational goal within the environment, the second operational goal being different from the first operational goal, and the second operational goal is incompatible to be performed relative to the first modality format;
• determine a plurality of reference point sets within each of the source electronic map and the target electronic map, each reference point set comprising a pair of reference points having a first reference point associated with a feature within the source electronic map and a second reference point associated with the feature within the target electronic map;
• determine a set of linear transformations based on the plurality of reference point sets for aligning the source electronic map in the first modality format with the target electronic map in the second modality format;
• automatically generate an aligned electronic map by aligning the target electronic map with the source electronic map based on the plurality of reference point sets and the set of linear transformations;
• evaluate the aligned electronic map to identify any one or more alignment errors exceeding an error threshold;
• and
• in response to determining an alignment error exceeds the error threshold, initiate further analysis of the source electronic map and the target electronic map to improve alignment, wherein the further analysis comprises:
• identifying a plurality of refinement reference point sets within each of the source electronic map and the target electronic map to improve alignment between the source electronic map and the target electronic map;
• determining a set of refinement transformations for aligning the source electronic map and the target electronic map with reference to the plurality of refinement reference point sets, the set of refinement transformations comprising at least one non linear transformation;
• and
• updating the aligned electronic map with the set of refinement transformations;
• otherwise, storing the aligned electronic map for use in operating the one or more autonomous mobile systems.