Patent ID: 11908198
Assignee: PONY AI INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 11:
12. A computer-implemented method, comprising:
obtaining sensor data from a sensor of a vehicle, the sensor data including point cloud frames at different positions, orientations, and times, the sensor data used to generate a map;
determining a position and an orientation of the sensor corresponding to a capture of each of the point cloud frames according to a simultaneous localization and mapping (SLAM) algorithm; and
depicting, on an interface, a graphical illustration of the determined positions at which the point cloud frames were captured, wherein the graphical illustration includes trajectory points indicating the determined positions and connectors connecting the trajectory points to indicate loop closure constraints among the trajectory points;
receiving a selection of a loop closure constraint; and
in response to receiving the selection of the loop closure constraint, displaying data of the loop closure constraint, the data indicating second trajectory points subject to the loop closure constraint.