Patent ID: 11971274
Assignee: THINKWARE CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method for producing a high-definition (HD) map by one or more processors using an aerial image and mobile mapping system (MMS) data of a mobile mapping system, the method comprising:
detecting an object of a road area and at least one second object of the road area from the aerial image, wherein the object of the road area is a lane marking and the at least one second object is at least one of a road surface marking and a polygon;
extracting a two-dimensional (2D) coordinate value of the detected object from the aerial image;
calculating a height value corresponding to the 2D coordinate value by projecting the extracted 2D coordinate value onto point cloud data included in the MMS data;
calculating a three-dimensional (3D) coordinate value corresponding to the 2D coordinate value based on the calculated height value; and
generating the HD map of the road area of the aerial image in three dimensions based on the calculated 3D coordinate value,
wherein the calculating the 3D coordinate value comprises:
when there is no MMS data corresponding to the 2D coordinate value of the detected object extracted from the aerial image, detecting MMS data corresponding to a proximity position nearest the extracted 2D coordinate value and having MMS data, and calculating the height value corresponding to the 2D coordinate value of the object on the road area by projecting the extracted 2D coordinate value onto the point cloud data of the detected MMS data corresponding to the proximity position,
wherein the extracted 2D coordinate value is used to generate the HD map for the polygon and/or the road surface marking,
wherein a height value of the polygon and/or the road surface marking is calculated based on the height value calculated for the lane marking, and
wherein the method further comprises:
generating a top view image based on a driving image included in the MMS data; and
updating the aerial image by arranging the generated top view image in chronological order on a position of the aerial image corresponding to an imaging position at which the driving image is captured,
wherein the method for producing the HD map is performed using the updated aerial image.