| CPC G05D 1/0274 (2013.01) [G01C 21/3807 (2020.08)] | 4 Claims |
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1. A method for converting a map to be used in an autonomous work vehicle, the method for converting the map comprising:
a step of representing the map using a plurality of rectangular parcels that are arranged in a plurality of rows and a plurality of columns, each rectangular parcel of the plurality of rectangular parcels is assigned a characteristic value representing a characteristic of the rectangular parcel,
a step of converting a representation of the map from a representation using the plurality of rows and the plurality of columns to a vertex representation,
a step of integrating rows, wherein two rectangular parcels in adjacent rows of a same column that have equal characteristic values are integrated into one rectangular parcel and the vertex representation of the one rectangular parcel is updated,
wherein the autonomous work vehicle is controlled using the map represented by the vertex representation,
wherein the map includes at least a first characteristic value, and a second characteristic value different from the first characteristic value,
wherein after the step of integrating rows is performed for each of the plurality of columns, a step of integrating columns is performed,
wherein the step of integrating columns comprises:
obtaining two rectangular parcels in adjacent columns that are divided into equivalent row intervals, and when the two rectangular parcels in adjacent columns that have equivalent row intervals also have equal characteristic values, the two rectangular parcels in adjacent columns that have equivalent row intervals and equal characteristic values are integrated into one rectangular parcel and the vertex representation of the one rectangular parcel is updated.
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