Mapping of environment

Certain examples described herein relate to methods of mapping an environmental map. The method includes obtaining navigation data from the autonomous robotic device and identifying a first room and asecond room in the environment using the navigation data. The first room is adjacent to the second room. The identification of the first room and the second room includes determining at least one endpoint associated with a doorway between the first room and the second room, and identifying an interior wall between the first room and the second room using the at least one endpoint. 本文描述的某些例子涉及绘制环境地图的方法。该方法包括从自主机器人装置获得导航数据，且使用导航数据来识别环境中的第一房间和第二房间。第一房间邻近于第二房间。第一房间和第二房间的识别包括确定与第一房间和第二房间之间的门道相关联的至少一个端点的，以及使用该至少一个端点识别在第一房间和第二房间之间的内部壁。