Annotating high definition map points with measure of usefulness for localization

One or more non-transitory computer readable storage media storing instructions that, in response to being executed by one or more processors, cause a system to perform operations, the operations comprising:

• obtaining a first point cloud that includes a first point;
• obtaining a second point cloud that is a copy of the first point cloud and that includes a second point that is a copy of the first point;
• moving the second point cloud with respect to the first point cloud according to a first vector;
• identifying a closest point of the first point cloud that is closest to the second point of the second point cloud after moving the second point cloud;
• determining a second vector that indicates a locational relationship between the closest point and the second point;
• determining a measure of usefulness of the first point with respect to mapping other point clouds to the first point cloud based on a relationship between the first vector and the second vector;
• and
• indicating the measure of usefulness of the first point in the first point cloud.

A system comprising:

• one or more processors;
• and
• one or more non-transitory computer readable storage media storing instructions that, in response to being executed by the one or more processors, cause the system to perform operations, the operations comprising:
• obtaining a first point cloud that includes a first point;
• obtaining a second point cloud that is a copy of the first point cloud and that includes a second point that is a copy of the first point;
• moving the second point cloud with respect to the first point cloud according to a first vector;
• identifying a closest point of the first point cloud that is closest to the second point of the second point cloud after moving the second point cloud;
• determining a second vector that indicates a locational relationship between the closest point and the second point;
• determining a measure of usefulness of the first point with respect to mapping other point clouds to the first point cloud based on a relationship between the first vector and the second vector;
• and
• indicating the measure of usefulness of the first point in the first point cloud.