Associating semantic location data with automated environment mapping

摘要

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).

主权项

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 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; for each semantic label of the plurality of semantic labels, the computing device identifying a nearby subset of the plurality of moved features; for each semantic label of the plurality of semantic labels, the computing device determining a transformation based on a coordinate mapping between the first positions and the second positions of the nearby subset of moved features identified for the semantic label; for each semantic label of the plurality of semantic labels, the computing device assigning a semantic position in the second map to the semantic label using the transformation determined for the semantic label; and generating an output of the computing device based on the second map.