公开(公告)号：US12215985B1

公开(公告)日：2025-02-04

申请号：US17701087

申请日：2022-03-22

Applicant: APPLE INC.

Inventor： Mikhail Tsoupko-Sitnikov ,  Can Koc ,  Marlene Wan ,  Lukas M. Marti

IPC: G01C21/36 ,  G01C21/34

Abstract: A method includes obtaining a first map element from a first map, identifying second map elements from a second map based on locations of the second map elements relative to the first map element, and identifying first and second point on the second map elements based on proximity to beginning and ending points of the first map element. One or more of the second map elements define a corresponding portion of the second map between the first point and the second point. The method also includes determining a registration score for the first map element relative to the corresponding portion of the second map, and in response to determining that the registration score indicates a match between the first map element and the corresponding portion of the second map, defining registration information that describes a relationship between the first map element and the corresponding portion of the second map.

公开(公告)号：US11604073B1

公开(公告)日：2023-03-14

申请号：US16535488

申请日：2019-08-08

Applicant: Apple Inc.

Inventor： Srichand Pendyala ,  Marlene Wan ,  Craig M. Hiller ,  Lukas M. Marti ,  Josh Redding

IPC: G01C21/34

Abstract: A method includes determining a routing graph based on a map, wherein the routing graph represents locations from the map; determining a routing horizon based on the routing graph, wherein the routing horizon defines a portion of the routing graph that is usable for routing; determining a cost-action structure that includes, for each location of the routing horizon, a cost-to-go value for travel from a respective location from the routing horizon to a destination, wherein the cost-to-go values implicitly describe an optimal route for travel from each of the respective locations from the routing horizon to the destination; receiving, from an autonomous agent, a request that specifies one of the locations from the routing horizon; and providing, to the autonomous agent, information from the cost-action structure based on the specified location from the routing horizon.