US 12,461,524 B2
Correction of sensor data alignment and environment mapping
Chengzhi Winston Liu, San Mateo, CA (US); and Derek Adams, Pasadena, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Feb. 17, 2023, as Appl. No. 18/111,463.
Application 18/111,463 is a division of application No. 16/697,117, filed on Nov. 26, 2019, granted, now 11,604,465.
Prior Publication US 2023/0221719 A1, Jul. 13, 2023
Int. Cl. G05D 1/00 (2024.01); G01C 21/36 (2006.01)
CPC G05D 1/0088 (2013.01) [G01C 21/3676 (2013.01); G05D 1/0221 (2013.01); G05D 1/0276 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving sensor data associated with an environment;
determining, based at least in part on the sensor data and a first link, a first map and a first trajectory associated with a vehicle, the first trajectory comprising a plurality of poses and the first link comprising a first indication that a first portion of the sensor data associated with a first pose of the first trajectory corresponds to a second portion of the sensor data associated with a second pose, wherein determining the first link comprises:
determining, based on the first portion, the first pose,
determining, based on the second portion, the second pose,
determining a distance based on the first pose and the second pose,
determining that the distance falls below a threshold, and
based at least in part on determining that the distance falls below the threshold, generating the first link in association with the first portion and the second portion;
receiving, from a user, an instruction for a modification comprising at least one of adding a second link or deleting the first link, the second link comprising a second indication that a third portion of sensor data associated with a third pose of the plurality of poses corresponds to a fourth portion of sensor data associated with a fourth pose of the plurality of poses;
determining, based at least in part on the sensor data and the modification, a second map and a second trajectory; and
transmitting the second map to an additional vehicle, wherein the additional vehicle is configured to be controlled based at least in part on the second map.