# US 10,482,655 B2 · Method and apparatus for providing a tile-based digital elevation model > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,482,655 B2 - Document ID: US10482655B2 - Status: Granted - Kind: B2 - Application number: 15/818,159 - Filed: 2017-11-20 - Published: 2019-05-23 - Granted: 2019-11-19 - Earliest claimed: 2017-11-20 - Assignees: HERE Global B.V. - Applicants: Here Global B.V. - Inventors: Xin Chen; Andi Zang - Web page: https://patentgrep.com/patent/US10482655B2 ## CPC - G06T 17/05: Geographic models - G01C 21/3826: {Terrain data} - G01C 21/3881: {Tile-based structures} - G01S 17/89: for mapping or imaging - G06N 7/01: Probabilistic graphical models, e.g. probabilistic networks - G06T 3/40: Scaling of whole images or parts thereof, e.g. expanding or contracting - G06T 19/20: Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts - G09B 29/106: {using electronic means} - G09B 29/12: Relief maps (relief models G09B25/06) - G01C 11/06: by comparison of two or more pictures of the same area - G06T 2210/36: Level of detail - G06T 2219/2004: Aligning objects, relative positioning of parts - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B) ## Abstract An approach is provided for providing a digital elevation model. For example, the approach involves processing, by a processor, map elevation data to create a hierarchical resolution tile representation of the digital elevation model for a geographic area. The hierarchical resolution tile representation includes a plurality of resolution levels, wherein each of the plurality of levels represents the digital elevation model at a different resolution. The digital elevation model includes a plurality of control points, wherein each of the plurality of control points is associated with an elevation data point determined from the map elevation data. ## Claims ### Claim 1 A method for providing a digital elevation model comprising: processing, by a processor, map elevation data to create a hierarchical resolution tile representation of the digital elevation model for a geographic area, wherein the hierarchical resolution tile representation includes a plurality of resolution levels, each of the plurality of levels representing the digital elevation model at a different resolution, wherein the digital elevation model includes a plurality of control points, each of the plurality of control points being associated with an elevation data point determined from the map elevation data; for a tile at one level of the plurality of resolution levels, creating a local digital elevation model by projecting the map elevation data for the tile to a tangent plane comprising a plurality of elevation data points; computing a probability map for the plurality of elevation data points, the probability map indicating respective probability data that each of the plurality of elevation data points is associated with a corresponding elevation value; and creating a new local digital elevation model based on the probability map. ### Claim 2 (depends on 1) The method of claim 1, further comprising: updating the probability map based on the new local digital elevation model. ### Claim 3 (depends on 1) The method of claim 1, wherein at least one of the plurality of the resolution levels is based on a high definition digital elevation model determined from point cloud data. ### Claim 4 (depends on 1) The method of claim 1, further comprising: designating at least one of the of the plurality of resolution levels as a baseline resolution level, wherein the map elevation data from the designated at least one resolution level is compressed to respond to a request for elevation data at a lower resolution level; and wherein the map elevation data from the designated at least one resolution level is interpolated to respond to another request for elevation data at a higher resolution level. ### Claim 5 (depends on 1) The method of claim 1, further comprising: retrieving the map elevation data from one or more non-point-cloud sources for the plurality of resolution levels that are below a resolution threshold; and retrieving the map elevation data from one or more point-cloud sources for the plurality of resolution levels that are above a resolution threshold. ### Claim 6 (depends on 1) The method of claim 1, further comprising: interpolating one or more of the plurality of elevation data points using the probability map to create the new local digital elevation model. ### Claim 7 (depends on 6) The method of claim 6, further comprising: identifying a first set of the plurality of elevation data points for which the respective probability data is above a threshold value; and identifying a second set of the plurality of elevation data points for which there is no corresponding elevation value, wherein the new local digital elevation model is created by interpolating the map elevation data from the first set to the second set. ### Claim 8 An apparatus for providing a digital elevation model comprising: at least one processor; and at least one memory including computer program code for one or more programs, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following, process map elevation data to create a hierarchical resolution tile representation of the digital elevation model for a geographic area, wherein the hierarchical resolution tile representation includes a plurality of resolution levels, each of the plurality of levels representing the digital elevation model at a different resolution, wherein the digital elevation model includes a plurality of control points, each of the plurality of control points being associated with an elevation data point determined from the map elevation data; for a tile at one level of the plurality of resolution levels, create a local digital elevation model by projecting the map elevation data for the tile to a tangent plane comprising a plurality of elevation data points; compute a probability map for the plurality of elevation data points, the probability map indicating respective probability data that each of the plurality of elevation data points is associated with a corresponding elevation value; and create a new local digital elevation model based on the probability map. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the map elevation data for said each of the plurality of resolution levels is retrieved from a plurality of different data sources, and wherein the apparatus is further caused to: perform a cross-level alignment, a same-level alignment, or a combination thereof among the plurality of different data sources for said each of the plurality of resolution levels, wherein the creation of the hierarchical resolution tile representation is further based on the cross-level alignment, the same-level alignment, or a combination thereof. ### Claim 10 (depends on 8) The apparatus of claim 8, wherein the apparatus is further caused to: designate at least one of the plurality of resolution levels as a baseline resolution level, wherein the map elevation data from the designated at least one resolution level is compressed to respond to a request for elevation data at a lower resolution level; and wherein the map elevation data from the designated at least one resolution level is interpolated to respond to another request for elevation data at a higher resolution level. ### Claim 11 (depends on 8) The apparatus of claim 8, wherein the apparatus is further caused to: interpolate one or more of the plurality of elevation data points using the probability map to create the new local digital elevation model. ### Claim 12 (depends on 11) The apparatus of claim 11, wherein the apparatus is further caused to: identify a first set of the plurality of elevation data points for which the respective probability data is above a threshold value; and identify a second set of the plurality of elevation data points for which there is no corresponding elevation value, wherein the new local digital elevation model is created by interpolating the map elevation data from the first set to the second set. ### Claim 13 A non-transitory computer-readable storage medium for providing a digital elevation model, and carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform: processing map elevation data to create a hierarchical resolution tile representation of the digital elevation model for a geographic area, wherein the hierarchical resolution tile representation includes a plurality of resolution levels, each of the plurality of levels representing the digital elevation model at a different resolution, wherein the digital elevation model includes a plurality of control points, each of the plurality of control points being associated with an elevation data point determined from the map elevation data; for a tile at one level of the plurality of resolution levels, creating a local digital elevation model by projecting the map elevation data for the tile to a tangent plane comprising a plurality of elevation data points; computing a probability map for the plurality of elevation data points, the probability map indicating respective probability data that each of the plurality of elevation data points is associated with a corresponding elevation value; and creating a new local digital elevation model based on the probability map. ### Claim 14 (depends on 13) The non-transitory computer-readable storage medium of claim 13, wherein the apparatus is caused to further perform: identifying a first set of the plurality of elevation data points for which respective probability data is above a threshold value; and identifying a second set of the plurality of elevation data points for which there is no corresponding elevation value, wherein the new local digital elevation model is created by interpolating the map elevation data from the first set to the second set. ### Claim 15 (depends on 13) The non-transitory computer-readable storage medium of claim 13, wherein the map elevation data for said each of the plurality of resolution levels is retrieved from a plurality of different data sources, and wherein the apparatus is caused to further perform: performing a cross-level alignment, a same-level alignment, or a combination thereof among the plurality of different data sources for said each of the plurality of resolution levels, wherein the creation of the hierarchical resolution tile representation is further based on the cross-level alignment, the same-level alignment, or a combination thereof. ### Claim 16 (depends on 13) The non-transitory computer-readable storage medium of claim 13, wherein the apparatus is caused to further perform: designating at least one of the plurality of resolution levels as a baseline resolution level, wherein the map elevation data from the designated at least one resolution level is compressed to respond to a request for elevation data at a lower resolution level; and wherein the map elevation data from the designated at least one resolution level is interpolated to respond to another request for elevation data at a higher resolution level. ### Claim 17 A method for providing a digital elevation model comprising: processing, by a processor, map elevation data to create a hierarchical resolution tile representation of the digital elevation model for a geographic area, wherein the hierarchical resolution tile representation includes a plurality of resolution levels, each of the plurality of levels representing the digital elevation model at a different resolution; wherein the digital elevation model includes a plurality of control points, each of the plurality of control points being associated with an elevation data point determined from the map elevation data, wherein the map elevation data for said each of the plurality of resolution levels is retrieved from a plurality of different data sources; and performing a cross-level alignment, a same-level alignment, or a combination thereof among the plurality of different data sources for said each of the plurality of resolution levels, wherein the creation of the hierarchical resolution tile representation is further based on the cross-level alignment, the same-level alignment, or a combination thereof, wherein the cross-level alignment is performed between two non-neighboring resolution levels of the plurality of resolutions levels. ### Claim 18 (depends on 17) The method of claim 17, wherein the same-level alignment is based on a weighted iterative closest point matching between two elevation data observations occurring at a same one of the plurality of resolution levels.