Geodata Graph Alignment Using Non-Rigid Raster Map Deformation
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Solution Overview
Problem
Autonomous vehicles face challenges in accurately aligning geodata maps with raster maps due to metric inconsistencies, leading to reduced accuracy and consistency in navigation, localization, and annotation tasks.
Innovation Solution
A non-rigid transformation is applied to the geodata map to maximize its coverage over the raster map by deforming nodes and edges, minimizing range and coverage errors using a factor graph-based error function.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a geodata map is used for autonomous navigation, then the vehicle can navigate using graph-based geographic data, but metric inconsistencies reduce the accuracy and consistency of navigation, localization, and annotation tasks
Solution Approach 1:
The patent transforms the geodata map using a non-rigid transformation that adjusts spatial parameters (positions of nodes and edges) to align with the raster map. This parameter adjustment resolves metric inconsistencies while preserving the topological structure, thereby improving both alignment accuracy and the reliability of downstream tasks simultaneously
Solution Approach 2:
The patent introduces a raster map as an intermediary reference framework to mediate between the geodata map and the actual physical environment. By using the raster map as a mediator, the system can resolve metric inconsistencies in the geodata map through alignment operations, improving both measurement precision and task consistency
2Area of stationary object
If the geodata map is deformed to align with the raster map, then coverage and alignment improve, but the complexity of the transformation process increases
Solution Approach 1:
The patent segments the geodata map into discrete topological elements (nodes representing intersections and edges representing traffic lanes). This segmentation allows the complex non-rigid transformation to be applied systematically to individual elements while preserving their topological relationships, making the transformation process more manageable and less complex
Solution Approach 2:
The patent employs a dynamic non-rigid transformation that adaptively deforms the geodata map based on alignment requirements with the raster map. This dynamic approach allows the transformation to flexibly adjust to varying alignment needs across different regions, maximizing coverage while maintaining a systematic process that doesn't excessively increase complexity
Data Source
AI summary
Provided are methods for aligning a raster map of a geographic area with a geodata map of the geographic area. A method includes obtaining, using at least one processor, the raster map of the geographic area. A distance map corresponding to the raster map of the geographic area may be generated. The raster map may be aligned with a geodata map of the geographic area by deforming the geodata map relative to the distance map in order to maximize a coverage of the geodata map over the raster map. An updated geodata map of the geographic area may be generated based on the aligning. Related systems and computer program products are also provided.