Distributed processing of pose graphs for generating high definition maps for navigating autonomous vehicles
US11512964B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 5, 2020 |
| Grant date | Nov 29, 2022 |
| Priority date | — |
| Expiry date | Dec 3, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/81
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
According to an aspect of an embodiment, operations may comprise obtaining a pose graph that comprises a plurality of nodes. The operations may also comprise dividing the pose graph into a plurality of pose subgraphs, each pose subgraph comprising one or more respective pose subgraph interior nodes and one or more respective pose subgraph boundary nodes. The operations may also comprise generating one or more boundary subgraphs based on the plurality of pose subgraphs, each of the one or more boundary subgraphs comprising one or more respective boundary subgraph boundary nodes and comprising one or more respective boundary subgraph interior nodes. The operations may also comprise obtaining an optimized pose graph by performing a pose graph optimization. The pose graph optimization may comprise performing a pose subgraph optimization of the plurality of pose subgraphs and performing a boundary subgraph optimization of the plurality of boundary subgraphs.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.