Methods and systems for vehicle environment map generation and updating

A global tridimensional map generating and updating system (2) for at least one vehicle (10), the system comprising

• a plurality of N tridimensional sensors (3DS1, . . . , 3DSN) adapted to be mounted on said at least one vehicle 10,
• each sensor (3DSi) of the plurality of N tridimensional sensors (3DS1, . . . , 3DSN) being adapted to generate a continuous stream (STi) of point cloud frames (PCF0i, PCF1i, . . . ), in parallel and asynchronously with the other sensors of the plurality of tridimensional sensors, wherein each point cloud frame (PCFji) of said stream (STi) comprises a set of tridimensional data points acquired by said sensor (3DSi) at a time (tji), in a local coordinate system (CSi) of said sensor, said tridimensional data points being representative of object surfaces located in a local volume (Lji) of the environment surrounding said sensor (3DSi) at said time (tji),
• a central processing unit (22) adapted to communicate with each tridimensional sensor of said plurality of sensors to continuously receive the plurality of N continuous streams (ST1, . . . , STN) from the N tridimensional sensors (3DS1, . . . , 3DSN), store said plurality of streams in a memory (23) and update a global cumulated tridimensional map of the environment surrounding said at least one vehicle (10) by
• determining, for each newly received point cloud frame (PCFji) of each stream (STi) of said plurality of streams, an aligned point cloud frame () in a global coordinate system of the environment (E) of said at least one vehicle (10) by comparing said point cloud frame (PCFji) with the global cumulated tridimensional map of the environment and updating said global cumulated tridimensional map by merging said aligned point cloud frame () with said global cumulated tridimensional map.