Data associated with a region, acquired by a robot may be passed to a previously trained classifier. The classifier outputs a classification label L, and a confidence score C. Responsive to determining that the confidence score C is below a threshold T, the acquired data can be added to a training data set associated with the classifier, and the classifier retrained using the training data set which include at least information from the acquired data. Responsive to determining that the confidence score C is below the threshold T, at least one candidate region having characteristic similarity to the region can be identified. Responsive to determining that the confidence score C is not below the threshold T, at least one candidate region having a different characteristic from the region canbe identified. The robot may be caused to acquire data associated with the candidate region.
Online practically driven spatial reference data collection for classification