US 12,092,479 B2
Map feature identification using motion data and surfel data
Michael Sprague, Longmont, CO (US); Kevin Oishi, Boulder, CO (US); and Luigi Bruno, Mountain View, CA (US)
Assigned to GOOGLE LLC, Mountain View, CA (US)
Filed by Google LLC, Mountain View, CA (US)
Filed on Sep. 15, 2022, as Appl. No. 17/945,602.
Application 17/945,602 is a continuation of application No. 16/415,357, filed on May 17, 2019, granted, now 11,454,502.
Prior Publication US 2023/0016153 A1, Jan. 19, 2023
Int. Cl. G01C 21/00 (2006.01); G01C 21/20 (2006.01); G01S 17/89 (2020.01)
CPC G01C 21/3867 (2020.08) [G01C 21/206 (2013.01); G01S 17/89 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A computing system for providing map information, comprising:
one or more processors; and
one or more non-transitory, computer-readable media that store instructions that when executed by the one or more processors cause the computing system to perform operations, the operations comprising:
obtaining surfel data representing a surface of a structure;
obtaining motion trace data indicative of a path of one or more users from an exterior of the structure to an interior of the structure;
identifying a candidate entrance location of the structure based at least in part on the path of the one or more users from the exterior of the structure to the interior of the structure and a portion of polygonal data defining an outer dimension of the structure;
estimating an entrance location of the structure based at least in part on a projected location of the candidate entrance location of the structure onto the surface of the structure derived from the surfel data;
generating geographic data indicative of a geographic location of the entrance location of the structure;
validating the geographic data using a machine-learned model that takes the geographic data and images of the structure as input;
updating the existing polygonal data for the structure based on a comparison of the location of the candidate entrance location and the projected location of the candidate entrance location; and
transmitting the validated geographic data for display in a user interface.