US Patent 11886189 Control and navigation systems, pose optimization, mapping, and localization techniques

A navigation program for an autonomous vehicle, the navigation program configured to: receive an initial model of an object to be inspected by the autonomous vehicle; identify an inspection target associated with the initial model of the object; and determine an inspection location for the autonomous vehicle from which inspection target is inspectable by an inspection system of the autonomous vehicle, wherein the initial model includes one or more convex shapes representing the object.