Automatic annotation of environmental features in a map during navigation of a vehicle

A method comprising:

• generating, using one or more processors, a geometric model of a feature in an environment of a vehicle based on sensor data obtained by one or more sensors, the generating comprising:
• associating, using the one or more processors, the feature with an area within the environment;
• determining, using the one or more processors, at least one drivable segment from the area;
• determining, using the one or more processors, based on intensity values or a color model of the sensor data, a plurality of geometric blocks corresponding to the at least one drivable segment;
• and
• generating, using the one or more processors, a polygon comprising the plurality of geometric blocks;
• and
• annotating, using the one or more processors, the geometric model based on the polygon.

A vehicle comprising:

• one or more computer processors;
• and
• one or more non-transitory storage media storing instructions which, when executed by the one or more computer processors, cause the one or more computer processors to:
• generate a geometric model of a feature in an environment of a vehicle based on sensor data obtained by one or more sensors, the generating comprising:
• associating the feature with an area within the environment;
• determining at least one drivable segment from the area;
• determining, based on intensity values or a color model of the sensor data,
• a plurality of geometric blocks corresponding to the at least one drivable segment;
• and
• generating a polygon comprising the plurality of geometric blocks;
• and
• annotate the geometric model based on the polygon.

One or more non-transitory storage media storing instructions which, when executed by one or more computing devices, cause one or more computing devices to:

• generate a geometric model of a feature in an environment of a vehicle based on sensor data obtained by one or more sensors, the generating comprising:
• associating the feature with an area within the environment;
• determining at least one drivable segment from the area;
• determining, based on intensity values or a color model of the sensor data, a plurality of geometric blocks corresponding to the at least one drivable segment;
• and
• generating a polygon comprising the plurality of geometric blocks;
• and
• annotate the geometric model based on the polygon.