Incremental updates of pose graphs for generating high definition maps for navigating autonomous vehicles
US10267635B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Dec 28, 2017 |
| Grant date | Apr 23, 2019 |
| Priority date | — |
| Expiry date | Dec 28, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2215/12
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A high-definition map system receives sensor data from vehicles travelling along routes and combines the data to generate a high definition map for use in driving vehicles, for example, for guiding autonomous vehicles. A pose graph is built from the collected data, each pose representing location and orientation of a vehicle. The pose graph is optimized to minimize constraints between poses. Points associated with surface are assigned a confidence measure determined using a measure of hardness/softness of the surface. A machine-learning-based result filter detects bad alignment results and prevents them from being entered in the subsequent global pose optimization. The alignment framework is parallelizable for execution using a parallel/distributed architecture. Alignment hot spots are detected for further verification and improvement. The system supports incremental updates, thereby allowing refinements of subgraphs for incrementally improving the high-definition map for keeping it up to date.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.