US 12,359,939 B2
Method and apparatus for generating maps from aligned geospatial observations
Tero Juhani Keski-Valkama, Zurich (CH)
Assigned to HERE GLOBAL B.V., Eindhoven (NL)
Filed by HERE GLOBAL B.V., Eindhoven (NL)
Filed on Mar. 1, 2022, as Appl. No. 17/652,952.
Prior Publication US 2023/0280185 A1, Sep. 7, 2023
Int. Cl. G01C 21/00 (2006.01); B60W 60/00 (2020.01)
CPC G01C 21/3848 (2020.08) [B60W 60/001 (2020.02); G01C 21/3819 (2020.08); G01C 21/3822 (2020.08); B60W 2552/53 (2020.02); B60W 2556/40 (2020.02); G01C 21/3859 (2020.08)] 20 Claims
OG exemplary drawing
 
1. An apparatus comprising at least one processor and at least one non-transitory memory including computer program code instructions, the computer program code instructions configured to, when executed, cause the apparatus to at least:
process geospatial observations from discrete trajectories through an iterative attentional model incorporating a Gated Recurrent Unit gating pattern to obtain a feature summary;
determine a drive offset for each of the discrete trajectories based on the feature summary;
align the discrete trajectories to generate aligned geospatial observations based, at least in part, on the drive offset for a respective discrete trajectory;
concatenate the aligned geospatial observations;
process the concatenated, aligned geospatial observations using at least one Set Transformer;
generate, from the at least one Set Transformer, map geometries including objects from the geospatial observations; and
provide for at least semi-autonomous vehicle control based on the map geometries.