US 11,698,272 B2
Map creation and localization for autonomous driving applications
Michael Kroepfl, Kirkland, WA (US); Amir Akbarzadeh, San Jose, CA (US); Ruchi Bhargava, Redmond, WA (US); Vaibhav Thukral, Bellevue, WA (US); Neda Cvijetic, East Palo Alto, CA (US); Vadim Cugunovs, Bellevue, WA (US); David Nister, Bellevue, WA (US); Birgit Henke, Seattle, WA (US); Ibrahim Eden, Redmond, WA (US); Youding Zhu, Sammamish, WA (US); Michael Grabner, Redmond, WA (US); Ivana Stojanovic, Berkeley, CA (US); Yu Sheng, San Diego, CA (US); Jeffrey Liu, Bellevue, WA (US); Enliang Zheng, Redmond, WA (US); Jordan Marr, Santa Clara, CA (US); and Andrew Carley, Kenmore, WA (US)
Assigned to NVIDIA Corporation, Santa Clara, CA (US)
Filed by NVIDIA Corporation, Santa Clara, CA (US)
Filed on Aug. 31, 2020, as Appl. No. 17/7,873.
Claims priority of provisional application 62/894,727, filed on Aug. 31, 2019.
Prior Publication US 2021/0063200 A1, Mar. 4, 2021
Int. Cl. G01C 21/00 (2006.01); G06N 3/02 (2006.01); G01C 21/16 (2006.01)
CPC G01C 21/3841 (2020.08) [G01C 21/1652 (2020.08); G01C 21/3811 (2020.08); G01C 21/3867 (2020.08); G01C 21/3878 (2020.08); G01C 21/3896 (2020.08); G06N 3/02 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A method comprising:
causing a vehicle to navigate within an environment based at least on a fused map representative of the environment, wherein the fused map is generated, at least, by:
receiving a plurality of mapstreams corresponding to a plurality of drives;
determining segments of two or more mapstreams of the plurality of mapstreams that are within a threshold distance to each other;
generating, based at least on registering the segments from the two or more mapstreams, a frame graph that includes poses and corresponding pose links associated with the two or more mapstreams;
generating, based at least on dividing the frame graph into road segments, a pose graph that includes a first portion of the poses and a first portion of the pose links corresponding to a first position within a first road segment of the road segments and a second portion of the poses and a second portion of the pose links corresponding to a second position within a second road segment of the road segments; and
generating the fused map based at least on fusing data from the two or more mapstreams according to the pose graph.