US 12,435,993 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. 17/652,951.
Prior Publication US 2023/0280184 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 2554/20 (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:
receive a plurality of sequences of geospatial observations from discrete trajectories within a geographic area, wherein the geospatial observations comprise sensor data including observations of objects with one or more geo-positions and attributes received from one or more of image sensors, LiDAR (Light Distancing and Ranging) sensors, depth sensors, or sonic sensors;
refine a summary entity set representation comprising vector embeddings through iteration over the discrete trajectories;
determine a drive offset for each of the discrete trajectories based on a comparison of the summary entity set representation to a drive entity set for each of the discrete trajectories;
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 concatenated, aligned geospatial observations;
update a map database to include the map geometries including the objects from the concatenated, aligned geospatial observations; and
provide for at least one of navigational assistance or at least semi-autonomous vehicle control based on the map geometries, wherein the map geometries including the objects from the concatenated, aligned geospatial observations in the map database are used with vehicle sensor data to align the vehicle within the geographic area.