| CPC G01C 21/3811 (2020.08) [G01C 21/387 (2020.08)] | 14 Claims |
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1. An environmental map management apparatus comprising:
a memory configured to
store environmental map data that is generated based on sensing data acquired by a tracker and indicates an environmental map,
store the environmental map data indicating the environmental map including a plurality of feature points; and
processing circuitry configured to
identify a predetermined pattern in the environmental map on a basis of the environmental map data,
identify a linear element that appears in a map indicated by given map data provided by a given map service and is associated with the pattern,
update the environmental map data on a basis of a location of the linear element in the map indicated by the given map data,
update, based on the location of the linear element in the map indicated by the given map data, a location of at least one of the feature points in the environmental map,
wherein the environmental map data includes a plurality of pieces of key frame data each generated based on the sensing data,
wherein the key frame data includes geo-pose data indicating a geographical location and an orientation of the tracker and a plurality of pieces of feature point data indicating relative locations, with respect to the location and the orientation indicated by the geo-pose data, of the feature points different from each other,
identify the key frame data associated with the linear element as to-be-updated key frame data, and
update, based on the location of the linear element in the map indicated by the given map data, the geo-pose data included in the to-be-updated key frame data.
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