A method, apparatus and computer program product are provided for learning to generate maps from raw geospatial observations from sensors traveling within an environment. Methods may include: processing geospatial observations from discrete trajectories through an iterative attention model incorporating a Gated Recurrent Unit gating pattern to obtain a feature summary; determining a drive offset for each of the discrete trajectories based on the feature summary; aligning the discrete trajectories to generate aligned geospatial observations based, at least in part, on the drive offset for a respective discrete trajectory; concatenating the aligned geospatial observations; processing the concatenated, aligned geospatial observations using at least one Set Transformer; generating, from the at least one Set Transformer, map geometries including objects from the geospatial observations; and providing for at least one of navigational assistance or at least semi-autonomous vehicle control based on the map geometries.


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    Title :

    METHOD AND APPARATUS FOR GENERATING MAPS FROM ALIGNED GEOSPATIAL OBSERVATIONS


    Contributors:

    Publication date :

    2023-09-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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