US 11,721,112 B2
Method and system for map construction
Minhao Jiang, San Diego, CA (US); Hsin Lu, San Diego, CA (US); Genmao Shi, San Diego, CA (US); and Ziqi Liu, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TUSIMPLE, INC., San Diego, CA (US)
Filed on Aug. 18, 2021, as Appl. No. 17/405,397.
Application 17/405,397 is a continuation of application No. 16/286,287, filed on Feb. 26, 2019, granted, now 11,170,230.
Prior Publication US 2021/0383137 A1, Dec. 9, 2021
Int. Cl. G01C 21/32 (2006.01); G06V 20/56 (2022.01); G06F 16/29 (2019.01); G06T 7/73 (2017.01); G06T 7/11 (2017.01); G01S 19/48 (2010.01); G08G 1/16 (2006.01); G06K 9/00 (2022.01)
CPC G06V 20/588 (2022.01) [G01C 21/32 (2013.01); G01S 19/48 (2013.01); G06F 16/29 (2019.01); G06T 7/11 (2017.01); G06T 7/75 (2017.01); G08G 1/167 (2013.01); G06T 2207/30256 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method of constructing a map, comprising:
receiving image data;
constructing polylines based on the image data;
converting the polylines into a plurality of polyline segments;
constructing lane segments based on the polyline segments;
obtaining one or more lanes by assigning each lane segment from the lane segments to a corresponding lane;
creating a lane graph representation of the lanes, wherein the lane graph is formed by nodes representing respective lane segments, wherein each edge of the graph connects a first node corresponding to a first segment of a lane and a second node corresponding to a second segment of the lane, and wherein the second segment is adjacent to the first segment within the lane, and
partitioning the map into a grid of slots and generating, for each of the slots, a list of lanes intersecting with the slot.