UPDATING ROAD GRAPHS FOR AUTONOMOUS DRIVING

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...

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Bibliographische Detailangaben
Hauptverfasser:	Pawlowski, Peter Michal, Zhang, Joy Weng, Montemerlo, Michael
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING COMPUTING CONTROLLING COUNTING GYROSCOPIC INSTRUMENTS HANDLING RECORD CARRIERS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS PRESENTATION OF DATA RECOGNITION OF DATA RECORD CARRIERS REGULATING SURVEYING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING
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Beschreibung
Zusammenfassung:	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.