Vehicle Trace Tiling to Smooth SLAM Map Border Misalignment
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Solution Overview
Problem
SLAM systems face challenges in efficiently mapping large environments due to the time and resource-intensive nature of optimizing vehicle trace data, which can lead to fuzzy digital representations and misalignments at tile group borders, especially when segmenting data into smaller geographic partitions.
Innovation Solution
The method involves segmenting vehicle trace data into tile groups, applying an optimization algorithm independently to solve the technical problem. The method includes segmenting the vehicle into smaller partitions, and applying an optimization algorithm independently to solve the technical problem. The method includes segmenting the vehicle into tile groups, applying a SLAM algorithm to each group, and performing multiple iterations with shifting geospatial arrangements to smooth out discontinuities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If vehicle trace data is segmented into smaller geographic partitions for optimization, then processing time and resource requirements are reduced, but misalignments and discontinuities appear at tile group borders
Solution Approach 1:
The patent divides the large environment into multiple smaller geographic partitions or tile groups, allowing parallel processing of optimization algorithms on each segment. This segmentation reduces the computational burden and processing time while maintaining the ability to process large-scale environments efficiently.
Solution Approach 2:
The patent merges adjacent tile groups into larger super-tile groups and applies optimization algorithms at multiple hierarchical levels. By combining results from individual tile optimizations and then optimizing larger groups, the system maintains alignment precision across borders while benefiting from segmented processing efficiency.
2Manufacturing precision
If optimization algorithm is applied to entire large environment, then alignment precision is maintained, but processing becomes computationally infeasible
Solution Approach 1:
The patent segments the large environment into manageable tile groups that can be processed independently in parallel, making the optimization computationally feasible while preserving alignment precision through hierarchical merging and multi-level optimization strategies.
Solution Approach 2:
The patent introduces a hierarchical dimension by organizing tile groups into super-tile groups and applying optimization at multiple levels. This dimensional organization allows the system to handle large environments by breaking down the computational problem into smaller, manageable sub-problems that can be solved efficiently.
3Manufacturing precision
If multiple iterations with shifted geospatial arrangements are performed, then discontinuities at borders are smoothed, but processing time increases
Solution Approach 1:
The patent employs periodic iterations with shifted geospatial arrangements to smooth discontinuities at tile group borders. By systematically varying the arrangement in successive iterations, the algorithm progressively reduces border artifacts while maintaining overall optimization efficiency through the hierarchical structure.
Data Source
AI summary
Systems and methods of optimizing vehicle trace data for generating digital representations of road networks are provided. For example, a methodology of the presently disclosed technology may comprise: (1) segmenting vehicle trace data into a first set of tile groups; (2) applying an optimization algorithm to the first set of tile groups; (3) segmenting the vehicle trace data into a second set of tile groups, wherein geospatial arrangement of the second set of tile groups is shifted with respective to geospatial arrangement of the first set of tile groups; (4) applying the optimization algorithm to the second set of tile groups; and (5) generating a representation of an environment based on the application of the optimization algorithm to the first and second sets of tile groups.