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公开(公告)号：US20240295410A1
公开(公告)日：2024-09-05
申请号：US18574487
申请日：2021-07-08
CPC分类号： G01C21/3804 , G01C21/20 , G01C21/30
摘要： A mapping device receives a request for localization using current sensor data which is image-based sensor data or structure-based sensor data, access image-based map elements and structure-based map elements, each map element being associated with a capturing time indicating a time of capturing the sensor data based on which it was derived, identify pairs of corresponding map elements, each pair including an image-based map element and a structure-based map element representing features at the same real-world location, and for each pair of corresponding map elements: determine an information difference metric between the image-based map element and the structure-based map element, and select one of the map elements of the pair of corresponding map elements for updating the heterogenous map based on a comparison of the respective capturing times, a type of the current sensor data, and the information difference metric.
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