Using measure of constrainedness in high definition maps for localization of vehicles

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

• accessing a set of vehicle poses of one or more vehicles, each of the set of vehicle poses comprising a geographic location and an orientation of the vehicle;
• for each of the set of vehicle poses:
• accessing a high definition (HD) map of a geographical region surrounding the vehicle pose, the HD map comprising a three-dimensional (3D) representation of the geographical region,
• determining a measure of constrainedness for the vehicle pose, the measure of constrainedness representing a confidence for performing localization for the vehicle pose based on 3D structures surrounding the vehicle pose, and
• storing the measure of constrainedness for the vehicle pose;
• and
• for each of the geographical regions surrounding each of the set of vehicle poses:
• determining a measure of constrainedness for the geographical region based on measures of constrainedness of vehicle poses within the geographical region, and
• storing the measure of constrainedness for the geographical region.

A computer system comprising:

• one or more processors;
• and
• one or more non-transitory computer readable media storing instructions that in response to being executed by the one or more processors, cause the computer system to perform operations, the operations comprising:
• accessing a set of vehicle poses of one or more vehicles, each of the set of vehicle poses comprising a geographic location and an orientation of the vehicle;
• for each of the set of vehicle poses:
• accessing a high definition (HD) map of a geographical region surrounding the vehicle pose, the HD map comprising a three-dimensional (3D) representation of the geographical region,
• determining a measure of constrainedness for the vehicle pose, the measure of constrainedness representing a confidence for performing localization for the vehicle pose based on 3D structures surrounding the vehicle pose, and
• storing the measure of constrainedness for the vehicle pose;
• and
• for each of the geographical regions surrounding each of the set of vehicle poses:
• determining a measure of constrainedness for the geographical region based on measures of constrainedness of vehicle poses within the geographical region, and
• storing the measure of constrainedness for the geographical region.