Patent ID: 11972576
Assignee: LYFT, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 14:
15. A non-transitory computer-readable medium comprising program instructions stored thereon that, when executed by at least one processor of a computing system, cause the computing system to perform functions comprising:
receiving one or more images related to a global map having a plurality of overlapping map segments, wherein each of the plurality of overlapping map segments corresponds to an area of the global map, and wherein each of the plurality of overlapping map segments overlaps with one or more neighboring map segments;
based on visual data of the one or more images, identifying at least a first overlapping map segment of the plurality of overlapping map segments that corresponds to the one or more images;
generating a reconstruction of the first identified overlapping map segment based on the one or more images as well as visual features and pose data generated from the global map; and
fusing the generated reconstruction of the first identified overlapping map segments together with the first identified overlapping map segment's one or more neighboring map segments based on overlapping map portions between the generated reconstruction and the first identified overlapping map segment's one or more neighboring map segments.