There's something called a Kalman filter: https://en.wikipedia.org/wiki/Kalman_filter https://en.wikipedia.org/wiki/Kalman_filter It can combine several inacc

There's something called a Kalman filter: https://en.wikipedia.org/wiki/Kalman_filter https://en.wikipedia.org/wiki/Kalman_filter It can combine several inaccurate sources and output a result that is more accurate than any one of them. I was at an Amazon Fresh grocery store, and saw squares in the ceiling that look like QR codes. I guess that's how they are mapping the store.