US Patent:
20200240794, Jul 30, 2020
Inventors:
- San Francisco CA, US
Evan Herbst - Pittsburgh PA, US
Robert Zlot - Pittsburgh PA, US
Jennifer Joyce Padgett - Pittsburgh PA, US
Bryan John Nagy - Allison Park PA, US
Xiaodong Zhang - Bentonville AR, US
Michael Napoli - San Francisco CA, US
Adrian Rechy Romero - San Francisco CA, US
International Classification:
G01C 21/32
G05D 1/02
G01C 21/34
G05D 1/00
Abstract:
A georeferenced trajectory system for vehicles receives trajectory data generated by a plurality of vehicle sensors and scaffolds of previously generated maps and aligns geometry data for a geographic region and trajectory data from the received data from different map builds. A scaffold of a geographic region to be mapped during an initial map build is generated, and the trajectory data from respective map builds is aligned with the scaffold of previously generated maps to generate a map of the geographic region. The resulting map expands the coverage of the existing map such that old and new map data is in a common consistent reference frame whereby the map may be built incrementally by merging or expanding local scaffolds and filling in the merged or expanded scaffold while ensuring global consistency.
