US 12,405,130 B2
Method for matching a digital road map
Andre Wagner, Hannover (DE); Erik Einhorn, Sarstedt (DE); Julian Lindner, Hannover (DE); Matthias Roland, Hildesheim (DE); Maurice Seer, Elze (DE); Nicolas Fischer, Hannover (DE); Pierre Lothe, Hildesheim (DE); and Tobias Ritter, Hildesheim (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Nov. 1, 2023, as Appl. No. 18/499,295.
Claims priority of application No. 10 2002 212 704.8 (DE), filed on Nov. 28, 2022.
Prior Publication US 2025/0137810 A1, May 1, 2025
Int. Cl. G06V 20/56 (2022.01); G01C 21/00 (2006.01)
CPC G01C 21/3822 (2020.08) 8 Claims
OG exemplary drawing
 
7. A device configured to match a digital road map to a digital reference road map, wherein each respective road map of the digital road map and the digital reference road map includes respective semantic information about objects represented on the respective road map, the device configured to:
associate objects on the digital road map with objects on the digital reference road map based on the respective semantic information such that only objects with the same semantic information are associated with one another;
match the digital road map to the digital reference road map based on the association, wherein the matching includes creating a delta pose between the digital road map and the digital reference road map;
wherein the association is carried out by running a branch-and-bound-based algorithm;
wherein, when the branch-and-bound-based algorithm is executed, a cardinality of a matching process is increased at each iteration;
wherein when the branch-and-bound-based algorithm is executed, it is tested whether a hypothesis passes a prespecified joint compatibility test, wherein a corresponding branch in the branch-and-bound-based algorithm is pursued based on a test result of the prespecified joint compatibility test; and
wherein the prespecified joint compatibility test includes determining whether the hypothesis is less than or less than/equal to a prespecified confidence threshold, wherein, when this is the case, the prespecified joint compatibility test is deemed not to have been passed, so that further pursuit of the corresponding branch in the branch-and-bound algorithm is terminated.