Augmenting standard definition map data with separate high-definition map data layers
AssigneeMapbox, Inc.
InventorsAleksandr Buslaev, Andrei Klimovich
Life of this patent
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Abstract
High-definition map data is generated from a combination of disparate data sources, such as aerial imagery, vehicle object detections, and/or vehicle telemetry data. The resulting high-definition map is sufficiently granular to support higher levels of autonomous driving systems, such as L2 and L3. In particular, specialized, expensive data sources such as LiDAR are not required for the generation of the high-definition map. Map objects are detected within aerial imagery, and vehicle object detections are clustered to filter spurious detections. The resulting detected objects are used to generate HD layers on top of other map data.
Claims20
A computer-implemented method for producing a high-definition map layer for a map of a geographic area in a map database, the map including a standard definition map layer, the computer-implemented method comprising:
- receiving aerial imagery of the geographic area;
- identifying, using the aerial imagery, road line data representing road lines in the geographic area;
- receiving, from a plurality of computing devices in a corresponding plurality of vehicles, vehicle detection data indicating positions of map objects in the geographic area, the vehicle detection data being derived by the plurality of computing devices from camera data of the plurality of computing devices;
- determining the positions of the map objects from the vehicle detection data;
- generating an upgrade data object representing the road lines and map objects by aligning the road line data and the determined positions of the map objects;
- and
- augmenting the map with the upgrade data object representing the road lines and map object, the upgrade data object creating the high-definition map layer of the geographic area in the map, and wherein the standard definition map layer and high-definition map layer represent the geographic area at different levels of fidelity.
A non-transitory computer-readable storage medium storing computer program instructions for producing a high-definition map layer for a map of a geographic area, the computer program instructions, when executed by one or more processors, causing the one or more processors to:
- receive aerial imagery of the geographic area;
- identify, using the aerial imagery, road line data representing road lines in the geographic area;
- receive, from a plurality of computing devices in a corresponding plurality of vehicles, vehicle detection data indicating positions of map objects in the geographic area, the vehicle detection data being derived by the plurality of computing devices from camera data of the plurality of computing devices;
- determine the positions of the map objects from the vehicle detection data;
- generate an upgrade data object representing the road lines and map objects by aligning the road line data and the determined positions of the map objects;
- and
- augment the map with the upgrade data object representing the road lines and map object, the upgrade data object creating the high-definition map layer of the geographic area in the map, and wherein the standard definition map layer and high-definition map layer represent the geographic area at different levels of fidelity.
A system comprising:
- one or more processors;
- and
- a non-transitory computer-readable storage medium storing computer program instructions for producing a high-definition map layer for a map of a geographic area, the computer program instructions, when executed by the one or more processors, causing the one or more processors to:
- receive aerial imagery of the geographic area;
- identify, using the aerial imagery, road line data representing road lines in the geographic area;
- receive, from a plurality of computing devices in a corresponding plurality of vehicles, vehicle detection data indicating positions of map objects in the geographic area, the vehicle detection data being derived by the plurality of computing devices from camera data of the plurality of computing devices;
- determine the positions of the map objects from the vehicle detection data;
- generate an upgrade data object representing the road lines and map objects by aligning the road line data and the determined positions of the map objects;
- and
- augment the map with the upgrade data object representing the road lines and map object, the upgrade data object creating the high-definition map layer of the geographic area in the map, and wherein the standard definition map layer and high-definition map layer represent the geographic area at different levels of fidelity.
Dependencies are inferred from the claim text.