公开(公告)号：US11853070B2

公开(公告)日：2023-12-26

申请号：US17012458

申请日：2020-09-04

Applicant: Waymo LLC

Inventor： Michael Montemerlo ,  Peter Michal Pawlowski ,  Joy Weng Zhang

IPC: G01C21/00 ,  G05D1/02 ,  G01C21/34 ,  G01C21/36 ,  G06V20/56

CPC classification number: G05D1/0219 ,  G01C21/3446 ,  G01C21/3602 ,  G05D1/0251 ,  G05D1/0253 ,  G05D1/0274 ,  G06V20/56

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for updating data of a map. One of the methods includes storing a map of an environment, the map comprising surfels and a road graph; receiving new surfel data for the surfels; adjusting the surfels based on the new surfel data; determining a vector field difference between the surfels of the stored map and the adjusted surfels; adjusting a portion of the road graph based on the vector field difference; generating an updated map comprising the adjusted surfels and the adjusted portion of the road graph; and storing the updated map.

公开(公告)号：US20220075382A1

公开(公告)日：2022-03-10

申请号：US17012458

申请日：2020-09-04

Applicant: Waymo LLC

Inventor： Michael Montemerlo ,  Peter Michal Pawlowski ,  Joy Weng Zhang

IPC: G05D1/02 ,  G06K9/00 ,  G01C21/36 ,  G01C21/34

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for updating data of a map. One of the methods includes storing a map of an environment, the map comprising surfels and a road graph; receiving new surfel data for the surfels; adjusting the surfels based on the new surfel data; determining a vector field difference between the surfels of the stored map and the adjusted surfels; adjusting a portion of the road graph based on the vector field difference; generating an updated map comprising the adjusted surfels and the adjusted portion of the road graph; and storing the updated map.