Map Element Warping for Updated 3D Trajectory Alignment
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Solution Overview
Problem
Existing map technologies face challenges in efficiently updating map elements associated with map data, particularly when the trajectory associated with the map data is updated, leading to incorrect registration of map elements with respect to the updated data.
Innovation Solution
The proposed solution involves determining an alignment between a first and second trajectory using algorithms like SLAM or CLAMS, and based on this alignment, updating the first trajectory to an updated first trajectory. This updated trajectory is then used to generate warped map elements by applying transformations to the original map elements, ensuring accurate registration with the updated map data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If map elements are updated by propagating changes to all layers, then map data consistency is improved, but processing time and computational resources increase significantly
Solution Approach 1:
The patent segments the map data into multiple independent layers (e.g., road geometry layer, semantic layer, topology layer). When a trajectory update occurs, only the affected layer or specific portions of layers are updated rather than propagating changes across all layers. This segmentation allows selective updating of map elements based on their association with the changed trajectory, significantly reducing processing time while maintaining consistency in updated portions.
Solution Approach 2:
The patent applies local quality by updating only the specific map elements that are directly affected by trajectory changes rather than uniformly updating all map layers. Map elements are selectively modified based on their spatial and semantic relationship to the updated trajectory, ensuring that resources are concentrated on maintaining consistency where it matters most while leaving unrelated portions unchanged.
2Reliability
If map elements are updated using traditional propagation methods, then completeness of updates is improved, but device complexity and computational resources increase
Solution Approach 1:
The patent establishes preliminary associations between map elements and trajectories during the map creation and maintenance phases. Each map element stores metadata indicating which trajectories it is associated with and how it should be updated when those trajectories change. This preliminary structuring enables direct, targeted updates without requiring complex real-time analysis of relationships between all map layers, reducing system complexity while ensuring complete updates of affected elements.
Solution Approach 2:
The patent introduces an intermediary data structure or index that maps trajectories to their associated map elements. This intermediary layer acts as a mediator between trajectory updates and map element modifications, enabling efficient identification and updating of affected elements without requiring direct complex interactions between all map layers. The intermediary simplifies the update process by pre-organizing relationships.
3Measurement precision
If manual updating of map elements is performed, then accuracy of map element registration is improved, but productivity and efficiency decrease
Solution Approach 1:
The patent implements self-service by enabling map elements to automatically update themselves when their associated trajectories change. Map elements contain logic and metadata that allow them to identify when they are affected by trajectory updates and perform their own regeneration or modification. This automated self-updating process maintains the registration accuracy that would otherwise require manual intervention while dramatically improving productivity by eliminating manual updating steps.
Solution Approach 2:
The patent establishes feedback mechanisms where map elements monitor their association with trajectories and automatically trigger updates when trajectory changes are detected. The system continuously tracks relationships between map elements and trajectories, providing feedback that initiates precise automated updates. This feedback loop ensures registration accuracy is maintained through systematic automated processes rather than manual intervention.
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.