Patent ID: 11941892
Assignee: ROBERT BOSCH GMBH
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 9:
10. A device for creating a digital map, the device comprising:
a processor, wherein the processor is configured to:
obtain surroundings sensor data captured in an overlapping manner during a measuring run of a physical system, the surroundings sensor data including:
first surroundings sensor data, which represents surroundings of the physical system as a first three-dimensional cloud of points; and
second surroundings sensor data, which represents the surroundings of the physical system as a two-dimensional arrangement of pixels;

register the first surroundings sensor data to the second surroundings sensor data so that each of the points of the cloud of the first surroundings sensor data is associated with a respective one of the pixels;
use a first neural network to:
process the first surroundings sensor data to identify a subset of the pixels of the second surroundings sensor data corresponding to a predefined object; and
based on the registration, select a subset of the points of the cloud of the first surroundings sensor data corresponding to the subset of the pixels, the selected subset of the points forming a three-dimensional representation of the predefined object;

extract, using a second neural network:
a subset of the subset of the points corresponding to characteristic features of the predefined object; and
descriptors of the one or more characteristic features;

based on the descriptors, align the subset of the subset of the points with a subset of another subset of points, which is of a second three-dimensional cloud of points; and
based on the alignment of the subset of the subset of the points with the subset of the another subset of points, stitch the first and second three-dimensional clouds of points to each other, thereby creating at least a part of a three-dimensional map.