| CPC G01C 21/32 (2013.01) [G06T 7/248 (2017.01); G06T 2207/30241 (2013.01); G06T 2207/30252 (2013.01)] | 20 Claims |
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1. A method comprising:
receiving a first pose graph associated with first map data, the first pose graph comprising a first set of nodes indicating one or more of a position or orientation of a vehicle traversing an environment and the first map data comprising a map element indicating a first location of an object in the environment;
receiving a second pose graph;
determining a source node of the first pose graph associated with the map element;
determining an association of a target node of the second pose graph with the source node;
determining a transformation between the source node and the target node;
modifying, as a modification based at least in part on the transformation, the map element to determine an updated map element of second map data;
determining, based at least in part on at least one of the modification or the transformation, a stress;
determining that the stress is less than a threshold stress; and
transmitting, based at least in part on determining that the stress is less than the threshold stress, the updated map element to the vehicle or another vehicle to traverse the environment based at least in part on the updated map element.
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