Submap geographic projections

A method comprising:

• obtaining, with a computer system, local map data describing a geographic location according to a local coordinate system, the local map data being based at least in part on sensor data captured at the geographic location;
• determining, with the computer system, a transform between the local coordinate system and a global coordinate system;
• obtaining, with the computer system, vehicle position data describing a position of an autonomous vehicle (AV);
• applying, with the computer system, the transform to at least a portion of the vehicle position data;
• and
• controlling, with the computer system, the AV to drive on at least one roadway in the geographic location, the controlling being based at least in part on the applying of the transform to the vehicle position data.

A non-transitory computer-readable medium comprising instructions thereon that, when executed by one or more processors, causes the one or more processors to perform operations comprising:

• obtaining local map data describing a geographic location according to a local coordinate system, the local map data being based at least in part on sensor data captured at the geographic location;
• determining a transform between the local coordinate system and a global coordinate system;
• obtaining vehicle position data describing a position of an autonomous vehicle (AV);
• applying the transform to at least a portion of the vehicle position data;
• and
• controlling the AV to drive on at least one roadway in the geographic location, the controlling being based at least in part on the applying of the transform to the vehicle position data.