US 11,657,719 B2
System for sparsely representing and storing geographic and map data
Derek Adams, Santa Clara, CA (US); Michael Carsten Bosse, Cupertino, CA (US); Elena Stephanie Stumm, San Francisco, CA (US); and Veeresh Taranalli, Foster City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Dec. 18, 2020, as Appl. No. 17/247,646.
Prior Publication US 2022/0198935 A1, Jun. 23, 2022
Int. Cl. G08G 1/00 (2006.01); G06N 20/00 (2019.01); G01C 21/00 (2006.01); B60W 60/00 (2020.01)
CPC G08G 1/22 (2013.01) [B60W 60/001 (2020.02); G01C 21/3807 (2020.08); G01C 21/3841 (2020.08); G06N 20/00 (2019.01); G08G 1/20 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2556/50 (2020.02); B60W 2556/65 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
receiving data associated with a fleet of autonomous vehicles;
determining, based at least in part on the data, a factor graph representative of an environment through which the fleet of autonomous vehicles traveled;
determining that a first node of the factor graph is less than or equal to a threshold distance from a second node of the factor graph, the first node of the factor graph representing a first portion of the data associated with a first vehicle of the fleet having a first pose data and the second node of the factor graph representing a second portion of the data associated with a second vehicle of the fleet having second pose data, and wherein the first pose data is different than the second pose data; and
based at least in part on determining that the first node is less than or equal to the threshold distance from the second node:
determining a third node of the factor graph based at least in part on the first data, the first pose, the second data, and the second pose, the third node having third data;
discarding one or more of the first node or the second node;
generating an updated representation of the factor graph including the third node; and
transmitting the updated representation to an autonomous vehicle, the autonomous vehicle configured to determine one or more of a position or an orientation relative to the environment represented by the factor graph.