US 11,657,072 B2
Automatic feature extraction from imagery
Jan Van Sickle, Boulder, CO (US); and Nicholas Dronen, Boulder, CO (US)
Assigned to HERE Global B.V., Eindhoven (NL)
Filed by HERE Global B.V., Eindhoven (NL)
Filed on May 16, 2019, as Appl. No. 16/413,873.
Prior Publication US 2020/0364247 A1, Nov. 19, 2020
Int. Cl. G06F 16/29 (2019.01); G06T 7/32 (2017.01); G06F 16/23 (2019.01); G06N 20/00 (2019.01); G05D 1/02 (2020.01); G06N 3/08 (2023.01); G06V 20/13 (2022.01); G06V 20/58 (2022.01); G06V 20/56 (2022.01)
CPC G06F 16/29 (2019.01) [G05D 1/0274 (2013.01); G06F 16/23 (2019.01); G06N 3/08 (2013.01); G06N 20/00 (2019.01); G06T 7/32 (2017.01); G06V 20/13 (2022.01); G06V 20/582 (2022.01); G06V 20/588 (2022.01); G05D 2201/0213 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for creating or updating a map database, the method further comprising:
receiving at least a first aerial image for a training geographic area;
receiving terrestrial sensor data collected at a terrestrial vehicle;
identifying at least one control point of at least one object detected in the terrestrial sensor data;
correlating points of the at least one object represented in at least the first aerial image with the at least one control point of the at least one object detected in the terrestrial sensor data;
orthorectifying the at least one object represented in at least the first aerial image using the correlated points;
training a neural network using the at least one control point from the terrestrial sensor data collected at the terrestrial vehicle and the orthorectified at least one object represented in at least the first aerial image;
wherein the training of the neural network includes performing iterative operations of the neural network based on data from a low altitude aerial vehicle and a high altitude aerial vehicle;
receiving additional aerial images as input to the trained neural network and identifying additional objects in the additional aerial images using the trained neural network; and
updating map information in a map database to include the identified additional objects;
wherein the identified additional object in the map information is at least one of a sign, a pole, a lane line, a road boundary or a barrier.