Elevation in traversable surface maps for autonomous vehicle navigation

A method comprising,

• receiving map data associated with an environment;
• determining, based at least in part on the map data, a first polygon representing a first traversable surface and a second polygon representing a second traversable surface, wherein the first polygon includes a first portion that overlaps with a second portion of the second polygon;
• determining, based at least in part on elevation information associated with the first traversable surface and the second traversable surface, respective elevation layers associated with the first polygon and the second polygon;
• determining whether to combine, or to refrain from combining, the first polygon and the second polygon based at least in part on whether the first polygon is associated with a same elevation layer as the second polygon;
• determining, based at least in part on determining whether to combine or to refrain from combining the first and second polygons, an updated map;
• and
• providing the updated map to a vehicle, wherein the updated map causes the vehicle to traverse the first traversable surface based on, or independently of, the second traversable surface based at least in part on the combining or refraining from combining the first and second polygons.

One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

• receiving map data associated with an environment;
• determining, based at least in part on the map data, a first polygon representing a first traversable surface and a second polygon representing a second traversable surface, wherein the first polygon includes a first portion that overlaps with a second portion of the second polygon;
• determining, based at least in part on elevation information associated with the first traversable surface and the second traversable surface, respective elevation layers associated with the first polygon and the second polygon;
• determining whether to combine, or to refrain from combining, the first polygon and the second polygon based at least in part on whether the first polygon is associated with a same elevation layer as the second polygon;
• determining, based at least in part on determining whether to combine or to refrain from combining the first and second polygons, an updated map;
• and
• providing the updated map to a vehicle, wherein the updated map causes the vehicle to traverse the first traversable surface based on, or independently of, the second traversable surface based at least in part on the combining or refraining from combining the first and second polygons.