Associating Semantic Location Data with Automated Environment Mapping
First Claim
1. A method, comprising:
- determining a first map of an environment using a computing device, wherein the first map comprises a plurality of features located at a corresponding plurality of first positions and a plurality of semantic labels located at a corresponding plurality of semantic positions;
determining a second map of the environment using the computing device, wherein the second map comprises at least some of the plurality of features located at a corresponding plurality of second positions;
identifying a first region of the environment comprising a plurality of fixed features using the computing device, wherein a fixed feature in the plurality of fixed features is located at a corresponding first position of the plurality of first positions and located at a corresponding second position of the plurality of second locations, and wherein the corresponding first position of the fixed feature is equivalent to the corresponding second position of the fixed feature;
identifying a second region of the environment comprising a plurality of moved features using the computing device, wherein a moved feature in the plurality of moved features is located at a corresponding first position of the plurality of first positions and a different corresponding second position of the plurality of second positions, and wherein the corresponding first position of the moved feature is not equivalent to the different corresponding second position of the moved feature;
determining one or more transformations between first positions and second positions of the plurality of moved features in the second region using the computing device;
assigning the plurality of semantic labels to the second map at a second plurality of semantic positions using the computing device, wherein semantic positions in the second plurality of semantic positions for semantic labels in the first region are the same as the corresponding semantic positions in the first plurality of semantic positions, and wherein semantic positions in the second plurality of semantic positions for semantic labels in the second region are based on the one or more transformations; and
generating an output of the computing device based on the second map.
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Abstract
Systems and methods are provided for generating maps with semantic labels. A computing device can determine a first map that includes features located at first positions and semantic labels located at semantic positions, and determine a second map that includes at least some of the features located at second positions. The computing device can identify a first region with fixed features located at first positions and corresponding equivalent second positions. The computing device can identify a second region with moved features located at first positions and corresponding non-equivalent second positions. The computing device can determine one or more transformations between first positions and second positions. The computing device can assign the semantic labels to the second map at second semantic positions, where the second semantic positions are the same in the first region, and where the second semantic positions in the second region are based on the transformation(s).
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Citations
20 Claims
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1. A method, comprising:
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determining a first map of an environment using a computing device, wherein the first map comprises a plurality of features located at a corresponding plurality of first positions and a plurality of semantic labels located at a corresponding plurality of semantic positions; determining a second map of the environment using the computing device, wherein the second map comprises at least some of the plurality of features located at a corresponding plurality of second positions; identifying a first region of the environment comprising a plurality of fixed features using the computing device, wherein a fixed feature in the plurality of fixed features is located at a corresponding first position of the plurality of first positions and located at a corresponding second position of the plurality of second locations, and wherein the corresponding first position of the fixed feature is equivalent to the corresponding second position of the fixed feature; identifying a second region of the environment comprising a plurality of moved features using the computing device, wherein a moved feature in the plurality of moved features is located at a corresponding first position of the plurality of first positions and a different corresponding second position of the plurality of second positions, and wherein the corresponding first position of the moved feature is not equivalent to the different corresponding second position of the moved feature; determining one or more transformations between first positions and second positions of the plurality of moved features in the second region using the computing device; assigning the plurality of semantic labels to the second map at a second plurality of semantic positions using the computing device, wherein semantic positions in the second plurality of semantic positions for semantic labels in the first region are the same as the corresponding semantic positions in the first plurality of semantic positions, and wherein semantic positions in the second plurality of semantic positions for semantic labels in the second region are based on the one or more transformations; and generating an output of the computing device based on the second map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computing device, comprising:
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one or more processors; and data storage including at least computer-executable instructions stored thereon that, when executed by the one or more processors, cause the computing device to perform functions comprising; determining a first map of an environment, wherein the first map comprises a plurality of features located at a corresponding plurality of first positions and a plurality of semantic labels located at a corresponding plurality of semantic positions; determining a second map of the environment, wherein the second map comprises at least some of the plurality of features located at a corresponding plurality of second positions; identifying a first region of the environment comprising a plurality of fixed features, wherein a fixed feature in the plurality of fixed features is located at a corresponding first position of the plurality of first positions and located at a corresponding second position of the plurality of second locations, and wherein the corresponding first position of the fixed feature is equivalent to the corresponding second position of the fixed feature; identifying a second region of the environment comprising a plurality of moved features, wherein a moved feature in the plurality of moved features is located at a corresponding first position of the plurality of first positions and a different corresponding second position of the plurality of second positions, and wherein the corresponding first position of the moved feature is not equivalent to the different corresponding second position of the moved feature; determining one or more transformations between first positions and second positions of the plurality of moved features in the second region; assigning the plurality of semantic labels to the second map at a second plurality of semantic positions, wherein semantic positions in the second plurality of semantic positions for semantic labels in the first region are the same as the corresponding semantic positions in the first plurality of semantic positions, and wherein semantic positions in the second plurality of semantic positions for semantic labels in the second region are based on the one or more transformations; and generating an output based on the second map. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory computer readable medium having stored thereon instructions, that when executed by one or more processors of a computing device, cause the computing device to perform functions comprising:
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determining a first map of an environment, wherein the first map comprises a plurality of features located at a corresponding plurality of first positions and a plurality of semantic labels located at a corresponding plurality of semantic positions; determining a second map of the environment, wherein the second map comprises at least some of the plurality of features located at a corresponding plurality of second positions; identifying a first region of the environment comprising a plurality of fixed features, wherein a fixed feature in the plurality of fixed features is located at a corresponding first position of the plurality of first positions and located at a corresponding second position of the plurality of second locations, and wherein the corresponding first position of the fixed feature is equivalent to the corresponding second position of the fixed feature; identifying a second region of the environment comprising a plurality of moved features, wherein a moved feature in the plurality of moved features is located at a corresponding first position of the plurality of first positions and a different corresponding second position of the plurality of second positions, and wherein the corresponding first position of the moved feature is not equivalent to the different corresponding second position of the moved feature; determining one or more transformations between first positions and second positions of the plurality of moved features in the second region; assigning the plurality of semantic labels to the second map at a second plurality of semantic positions, wherein semantic positions in the second plurality of semantic positions for semantic labels in the first region are the same as the corresponding semantic positions in the first plurality of semantic positions, and wherein semantic positions in the second plurality of semantic positions for semantic labels in the second region are based on the one or more transformations; and generating an output based on the second map. - View Dependent Claims (18, 19, 20)
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Specification