US 12,241,754 B2
Systems and methods for map verification
Andrew Patrikalakis, Los Altos, CA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on Aug. 4, 2020, as Appl. No. 16/985,181.
Prior Publication US 2022/0042817 A1, Feb. 10, 2022
Int. Cl. G01C 21/36 (2006.01); G01C 21/00 (2006.01); G01C 21/30 (2006.01)
CPC G01C 21/3638 (2013.01) [G01C 21/30 (2013.01); G01C 21/3691 (2013.01); G01C 21/3822 (2020.08); G01C 21/3856 (2020.08)] 19 Claims
OG exemplary drawing
 
1. A computer-implemented method, comprising:
presenting to a user on a display a visual map of a traveling scene reflecting a section of roadway being traversed by a vehicle, wherein presenting the visual map comprises presenting first objects included in the presented visual map;
determining which of the first objects presented in the visual map are known stationary objects in the traveling scene based on a comparison of the first objects in the presented visual map with second objects in a previously generated map, the second objects comprising previously identified stationary objects, wherein determining which of the first objects presented in the visual map are the known stationary objects comprises:
identifying the first objects presented in the visual map;
determining a location of the vehicle;
retrieving the previously generated map of a same section of roadway being traversed by the vehicle based on the location of the vehicle, wherein the previously generated map is generated at time prior to the vehicle traversing the section of roadway;
comparing the identified first objects presented in the visual map with previously identified stationary objects in the previously generated map; and
labeling each of a plurality of first objects presented in the visual map as known stationary objects if they are instances of the previously identified stationary objects in the previously generated map;
occluding each of the known stationary objects in the presented visual map upon subsequent traversal of the same section of roadway, wherein occluding each of the known stationary objects comprises placing visual elements on the visual map at determined locations and/or positions corresponding to each of the known stationary objects to overlay each of the known stationary objects with the visual elements on at least one of a location and a position of each of the known stationary objects, based on a comparison of the presented visual map with the previously generated map; and
receiving input on the display regarding visible objects in the visual map, based on the occluding of the known stationary objects, during the subsequent traversal of the same section of roadway to verify accuracy of the previously generated map.