ALIGNMENT OF MAP SEGMENTS

ALIGNMENT OF MAP SEGMENTS

A computer implemented method (100) of aligning a plurality of map segments (5a, 5a', 5b, 5b', 5c, 5d, 5e, 5f, 502a, 502b) having a local reference frame to a reference map (1, 1', 500) having a global reference frame, each map segment (5a, 5a', 5b, 5b', 5c, 5d, 5e, 5f, 502a...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Broadway, Matthew David, Maguire, Sean Thomas George, Trigoni, Agathoniki, Nawaz, Muhammad Sarfraz
Format: Patent
Sprache:eng
Schlagworte:
CALCULATING
COMPUTING
COUNTING
HANDLING RECORD CARRIERS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
PRESENTATION OF DATA
RECOGNITION OF DATA
RECORD CARRIERS
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Beschreibung
Zusammenfassung:A computer implemented method (100) of aligning a plurality of map segments (5a, 5a', 5b, 5b', 5c, 5d, 5e, 5f, 502a, 502b) having a local reference frame to a reference map (1, 1', 500) having a global reference frame, each map segment (5a, 5a', 5b, 5b', 5c, 5d, 5e, 5f, 502a, 502b) overlapping a portion of the area represented by the reference map, the method (100) comprising: for each map segment (5a, 5a', 5b, 5b', 5c, 5d, 5e, 5f, 502a, 502b), independently generating (102) one or more candidate alignments (13a', 13a", 13a', 13b', 13b", 13b'"', 504a', 504a", 504a'', 504b', 504b", 504b''), aligning the map segment (5a, 5a', 5b, 5b', 5c, 5d, 5e, 5f, 502a, 502b to the reference map (1, 1', 500); for each candidate alignment (13a', 13a", 13a"', 13b', 13b'', 13b ', 504a', 504a", 504a'', 504b', 504b", 504b'), evaluating (104) a candidate alignment cost function representing the likelihood that the candidate alignment (13a', 13a", 13a'', 13b', 13b'', 13b'', 504a', 504a", 504a'', 504b', 504b'', 504b''') is correct; based on the candidate alignments (13a', 13a'', 13a"', 13b', 13b'', 13b"', 504a', 504a", 504a"', 504b', 504b", 504b''') and associated candidate alignment cost functions, generating (108) one or more candidate solutions (15a, 15b, 15c, 15d, 506a, 506b, 506c, 506d), each candidate solution (15a, 15b, 15c, 15d, 506a, 506b, 506c, 506d) comprising a single candidate alignment (13a', 13a'', 13a', 13b', 13b'', 13b"', 504a', 504a", 504a'', 504b', 504b", 504b''') for each map segment ( 5a, 5a', 5b, 5b', 5c, 5d, 5e, 5f, 502a, 502b) of the plurality of map segments (5a, 5a', 5b, 5b', 5c, 5d, 5e, 5f, 502a, 502b); for each candidate solution (15a, 15b, 15c, 15d, 506a, 506b, 506c, 506d), evaluating (110) a candidate solution cost function based on at least the candidate alignment cost functions for each candidate alignment (13a', 13a'', 13a"', 13b', 13b", 13b"', 504a', 504a", 504a'', 504b', 504b", 504b'') included in the candidate solution (15a, 15b, 15c, 15d, 506a, 506b, 506c, 506d); and based on the evaluation of the candidate solution cost functions, determining the alignment of the plurality of map segments (5a, 5a', 5b, 5b', 5c, 5d, 5e, 5f, 502a, 502b) to the reference map (1, 1', 500).