| CPC G01C 21/3815 (2020.08) [B60W 60/001 (2020.02); G01C 21/3407 (2013.01); G06F 18/21 (2023.01); G06F 18/24 (2023.01); G06N 3/04 (2013.01); G06N 3/08 (2013.01); G06V 10/40 (2022.01); G06V 20/588 (2022.01); B60W 2552/53 (2020.02)] | 12 Claims |
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1. A method of generating a vector map of a geographic area, the method comprising, by a processor:
acquiring a birds-eye view image of the geographic area, wherein the birds-eye view image comprises a plurality of pixels;
processing the birds-eye view image to generate a spatial graph representation of the geographic area by:
classifying each pixel of the birds-eye view image as either a lane pixel or a non-lane pixel,
processing the lane pixels to extract a plurality of features of the geographic area that are to be represented in the vector map,
for each of the lane pixels, determining a likelihood value that the lane pixel contains a feature of the geographic area that is to be represented in the vector map,
classifying the lane pixels having likelihood values that exceed a threshold as node pixels, and
generating the vector map by generating a plurality of lines such that each of the lines connects a corresponding pair of the node pixels, wherein each of the lines represents a lane segment in the geographic area, wherein generating the lines that connect the pairs of the node pixels comprises:
identifying, as the pairs of the node pixels, any pair of adjacent node pixels having features that indicate a relationship of spatial similarity; and
generating a matrix in which each element of the matrix has a value that indicates whether the pair of adjacent node pixels that the element represents are connected;
saving the vector map comprising nodes representing the node pixels and the lines to a vector map data set; and
moving an autonomous vehicle along a trajectory generated using the vector map data set.
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