Global Mapping System

Overview

The Global Mapping system was a fundamental component of the Navigation Stack at Miko.AI, providing comprehensive environment mapping and localization capabilities.

Technical Details

2D Occupancy Map Development

• Developed 2D occupancy maps from 3D local maps and robot pose estimates
• Implemented temporally dynamic mapping system with frame-based persistence
• Created n-frame verification system for object addition to global map
• Designed n-frame removal system for dynamic object handling
• Enabled adaptive map updates for movable objects like chairs and furniture
• Prevented map corruption from temporary obstacles or moved objects