Systems and methods for aligning map data

A system comprising:

• at least one processor;
• and
• a memory storing instructions that, when executed by the at least one processor, cause the system to perform:
• receiving a geometric map and a semantic map associated with a geographic area, the semantic map comprising semantic data associated with vehicle navigation;
• generating a semantic position estimate associated with an object represented in the semantic map based on semantic data location information associated with the object;
• aligning the semantic position estimate with a physical feature that corresponds with the object to provide a final position for the semantic position estimate that is a two-dimensional position;
• applying one or more three-dimensional semantic labels to the geometric map based on the final position of the semantic position estimate;
• generating a warped semantic map by warping the semantic map based on the one or more three-dimensional semantic labels;
• and
• estimating a position of the object within an image associated with the geometric map by applying the semantic position estimate to the image, wherein aligning the semantic position estimate includes receiving the final position for the semantic position estimate, including the two-dimensional position within the image, and wherein applying the one or more three-dimensional semantic labels comprises translating the final position of the semantic position estimate within the image into a three-dimensional position within the geometric map.

A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform a method comprising:

• receiving a geometric map and a semantic map associated with a geographic area, the semantic map comprising semantic data associated with vehicle navigation;
• generating a semantic position estimate associated with an object represented in the semantic map based on semantic data location information associated with the object;
• aligning the semantic position estimate with a physical feature that corresponds with the object to provide a final position for the semantic position estimate that is a two-dimensional position;
• applying one or more three-dimensional semantic labels to the geometric map based on the final position of the semantic position estimate;
• generating a warped semantic map by warping the semantic map based on the one or more three-dimensional semantic labels;
• and
• estimating a position of the object within an image associated with the geometric map by applying the semantic position estimate to the image, wherein aligning the semantic position estimate includes receiving the final position for the semantic position estimate, including the two-dimensional position within the image, and wherein applying the one or more three-dimensional semantic labels comprises translating the final position of the semantic position estimate within the image into a three-dimensional position within the geometric map.