Patent ID: 11915490
Assignee: WAYMO LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 20:
21. The computer-implemented method of claim 1, wherein combining, by the first vehicle, the sensor data for the first location obtained by the first vehicle with surfel data associated with the one or more surfels obtained from the surfel map generated by the plurality of other vehicles comprises updating a probability (P(H)) associated with a semantic label associated with a surfel for a particular location according to:, P
      ⁡
      
        (
        
          H
          ❘
          E
        
        )
      
    
    =
    
      
        
          P
          ⁡
          
            (
            
              E
              ❘
              H
            
            )
          
        
        
          P
          ⁡
          
            (
            E
            )
          
        
      
      ·
      
        P
        ⁡
        
          (
          H
          )
        
      
    
  
  ,, where H is a class of information represented by the semantic label associated with the surfel and E is the sensor data for the particular location obtained by the first vehicle.