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 |
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.
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