High definition mapping

A method comprising:

• accessing, based at least on a current location of an ego-machine, first localization data from a first road segment of road segments representing respective map regions aligned to one or more roads of a high definition (HD) map, the HD map including a graph having nodes representing the road segments,
• wherein the first road segment stores the first localization data corresponding to a first region of the respective map regions and a second road segment of the road segments stores second localization data corresponding to a second region of the respective map regions;
• performing one or more localization operations using the first localization data from the first road segment to determine first localization results of the first road segment, the first localization results including a location of the ego-machine within a first local coordinate system of the first road segment;
• identifying an edge in the graph based at least on the edge representing a road-level connection between the first road segment and the second road segment;
• identifying, using the edge, a spatial transformation between the first local coordinate system of the first road segment and a second local coordinate system of the second road segment;
• translating, when the ego-machine traverses into the second road segment from the first road segment and using the spatial transformation, the first localization results from the first local coordinate system to second localization results of the second road segment in the second local coordinate system, the second localization results including a translated location of the ego-machine;
• and
• performing one or more of autonomously controlling at least one of steering or speed of the ego-machine using the second localization data and the translated location in the second local coordinate system.

A system comprising:

• one or more processors to perform operations including:
• accessing, based at least on a current location of an ego-machine, first localization data from a first road segment of road segments representing respective map regions aligned to one or more roads of a high definition (HD) map, the HD map including a graph having nodes representing the road segments,
• wherein the first road segment stores the first localization data corresponding to a first region of the respective map regions and a second road segment of the road segments stores second localization data corresponding to a second region of the respective map regions;
• performing one or more localization operations using the first localization data from the first road segment to determine first localization results of the first road segment, the first localization results including a location of the ego-machine within a first local coordinate system of the first road segment;
• identifying an edge in the graph based at least on the edge representing a road-level connection between the first road segment and the second road segment;
• identifying, using the edge, a spatial transformation between the first local coordinate system of the first road segment and a second local coordinate system of the second road segment;
• translating, when the ego-machine traverses into the second road segment from the first road segment and using the spatial transformation, the first localization results from the first local coordinate system to second localization results of the second road segment in the second local coordinate system, the second localization results including a translated location of the ego-machine;
• and
• performing one or more of autonomously controlling at least one of steering or speed of the ego-machine using the second localization data and the translated location in the second local coordinate system.