Patent ID: 11899114
Assignee: ZOOX, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method comprising:
receiving a pose graph determined based at least in part on lidar data, the pose graph indicating a series of one or more of positions or orientations as a series of pose estimates associated with a vehicle in an environment;
receiving a first object detection associated with first image data and a first pose of the series;
receiving a second object detection associated with second image data and a second pose of the series;
determining, based at least in part on the first object detection, a first candidate location associated with the first object detection;
determining, based at least in part on the second object detection, a second candidate location associated with the second object detection;
determining, based at least in part on the first candidate location and the second candidate location being within a threshold distance and being associated with a same object classification, to associate the first object detection and the second object detection with a proposed location;
altering, as a first adjusted pose, at least one of the first pose, the first candidate location, the second candidate location, or the proposed location to reduce a distance between the first candidate location and the proposed location while disregarding the second object detection;
determining, based at least in part on the first adjusted pose, to disassociate the second candidate location from the first candidate location and the proposed location;
altering, as a second adjusted pose, at least one of the first pose, the first candidate location, the second candidate location, or the proposed location to reduce a distance between the first candidate location or the second candidate location and the proposed location;
determining, based at least in part on the second adjusted pose, map data associated with the environment; and
transmitting the map data to the vehicle configured to traverse the environment based at least in part on the map data.