Patent ID: 8977074
Filing Date: 2015-03-10
Classification: G06T

Abstract:
1. A method of generating a three-dimensional scene geometry, comprising: obtaining, by one or more computing devices, a first plurality of images and corresponding distance measurements for a first vehicle trajectory; obtaining, by one or more computing devices, a second plurality of images and corresponding distance measurements for a second vehicle trajectory, the second vehicle trajectory intersecting the first vehicle trajectory; registering, by one or more computing devices, a relative vehicle position and orientation for one or more segments of each of a first vehicle trajectory and a second vehicle trajectory, wherein registering comprises snapping vehicle trajectories to read segments; generating, by one or more computing devices, a three-dimensional scene geometry for each vehicle trajectory; mapping, by one or more computing devices, the three-dimensional scene geometry for each vehicle trajectory onto a common reference system based on the registering; and merging, by one or more computing devices, the individual scene geometries to generate a complete three-dimensional scene geometry, wherein merging comprises using a route repository to determine which roads intersect and therefore which vehicle trajectories to merge.