Map Alignment System Using Offset Grids for Local Accuracy
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Solution Overview
Problem
Autonomously controlled vehicles face challenges due to inaccuracies in globally aligned maps, which can lead to difficulties in tasks like obstacle avoidance and trajectory planning, as local regions may not be accurately represented.
Innovation Solution
A map alignment system that segments maps into two offset grids, allowing for local alignment by identifying and adjusting misalignments between overlapping tiles, ensuring accurate depiction of local regions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a globally aligned map is used to provide a consistent representation across a wide region, then global consistency is improved, but local alignment accuracy deteriorates
Solution Approach 1:
The map is divided into multiple overlapping local grids, each covering a specific geographic region. Each local grid is independently aligned using local alignment data, allowing local accuracy to be optimized without compromising global consistency. The overlapping regions between adjacent local grids ensure continuous coverage and smooth transitions across the entire map area.
2Measurement precision
If map data is corrected to improve local accuracy, then local alignment accuracy is improved, but computational complexity increases
Solution Approach 1:
The alignment correction process is applied locally to each individual grid rather than to the entire map globally. Each local grid undergoes independent alignment adjustments using locally collected alignment data, which reduces the overall computational burden compared to processing the complete map at once while still achieving high local accuracy in each region.
Data Source
AI summary
System, methods, and other embodiments described herein relate to locally aligning features within a map. In one embodiment, a method includes segmenting map data that forms the map using a first grid to divide the map into a first set of tiles and a second grid to divide the map into a second set of tiles that are offset and overlap the first set of tiles. The method includes analyzing neighbor tiles in relation to a patch tile based, at least in part, on shared features between the patch tile and the neighbor tiles to identify external misalignments between one or more of the neighbor tiles and the patch tile. The neighbor tiles are from a different one of the first grid and the second grid. The method includes adjusting alignment of the neighbor tiles within the map according to the external misalignments for the neighbor tiles.