Map creation and localization for autonomous driving applications

A method comprising:

• receiving data representative of sensor data, perception outputs from one or more deep neural networks (DNNs), and trajectory information corresponding to a plurality of drives;
• converting the data to first map data representative of a plurality of maps, an individual map of the plurality of maps corresponding to a drive of the plurality, of drives;
• registering, based at least on the trajectory information, a first segment of a first map of the plurality of maps to a second segment of a second map of the plurality of maps;
• generating, based at least on the registering, a frame graph that includes poses and corresponding pose links associated with the first segment of the first map and the second segment of the second map;
• generating, based at least on assigning at least a portion of the poses and at least a portion of the pose links from the frame graph to road segments, a pose graph;
• based at least on the pose graph, generating second map data representative of a fused map corresponding to the first map and the second map, the fused map including the road segments;
• and
• sending data representative of the fused map to a vehicle to cause the vehicle to navigate an environment based at least on the fused map.

A system comprising:

• one or more processing units to:
• receive a plurality of mapstreams corresponding to a plurality of drives;
• determine segments of two or more mapstreams of the plurality of mapstreams that are within a threshold distance to each other;
• generate, based at least in part on registering the segments, a frame graph that includes poses and corresponding pose links associated with the segments;
• generate, based at least on dividing the frame graph into road segments, a pose graph that includes a first portion of the poses and a first portion of the pose links corresponding to a first road segment of the road segments and a second portion of the poses and a second portion of the pose links corresponding to a second road segment of the road segments;
• fuse data from the two or more mapstreams based at least on the pose graph;
• generate, based at least on the data from the two or more mapstreams being fused, a fused map;
• and
• send the fused map to a vehicle to cause the vehicle to navigate based at least on the fused map.