Map Element Warping for Updated 3D Trajectory Alignment
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Solution Overview
Problem
Existing map elements associated with map data are not updated efficiently when the underlying trajectory is updated, leading to incorrect registration and potential navigation errors for autonomous vehicles, requiring manual updates that are time-consuming and prone to errors.
Innovation Solution
Automate the process of updating map elements by determining an alignment between a first and second trajectory using algorithms like SLAM or CLAMS, applying a transformation to generate an updated trajectory, and warping map elements based on this transformation, constrained by distance and pose changes, to ensure accurate registration with updated map data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If map elements are manually updated when trajectory changes, then registration accuracy is maintained, but time consumption and labor effort increase significantly
Solution Approach 1:
The system automatically updates map elements by detecting trajectory changes and applying transformations without human intervention. The autonomous vehicle's own trajectory data serves as the input for automatically regenerating map elements, eliminating the need for manual updates while maintaining registration accuracy.
Solution Approach 2:
The system pre-computes transformation matrices from trajectory alignments and applies them to map elements proactively before navigation errors occur. By performing the update operation in advance based on detected trajectory changes, the system ensures continuous accuracy without waiting for manual intervention.
2Loss of time
If map elements are not updated when trajectory changes, then time and effort are saved, but registration accuracy deteriorates and navigation errors occur
Solution Approach 1:
The system continuously monitors trajectory alignments between map data and current sensor data, using this feedback to detect when updates are needed. When misalignment exceeds a threshold, the system automatically triggers map element updates, ensuring navigation reliability without unnecessary updates.
Solution Approach 2:
The system dynamically adjusts the update frequency of map elements based on the degree of trajectory change. Small adjustments may not trigger updates, while significant trajectory changes automatically initiate updates, optimizing the balance between time efficiency and navigation reliability.
3Stability of the object's composition
If complete propagation of changes across all map layers is performed, then consistency is maintained, but computational resources and processing time increase
Solution Approach 1:
The system segments the map into independent layers and updates only the specific layer containing the changed map elements rather than propagating changes across all layers. This selective update approach maintains consistency where needed while significantly reducing computational overhead.
Solution Approach 2:
The system applies updates locally to affected map elements and their immediate surroundings rather than globally across the entire map. By concentrating computational resources on local transformations, the system maintains local consistency without the prohibitive cost of global propagation.
Data Source
AI summary
Techniques are discussed for modifying map elements associated with map data. Map data can include three-dimensional data (e.g., LIDAR data) representing an environment, while map elements can be associated with the map data to identify locations and semantic information associated with an environment, such as regions that correspond to driving lanes or crosswalks. A trajectory associated with the map data can be updated, such as when aligning one or more trajectories in response to a loop closure, updated calibration, etc. The transformation between a trajectory and an updated trajectory can be applied to map elements to warp the map elements so that they correspond to the updated map data, thereby providing automatic and accurate techniques for updating map elements associated with map data.