Patent ID: 8825391

Claim:
A method for generating an elevation map of a roadway, the method comprising: receiving sensor data, the sensor data including a plurality of data points, each of the plurality of data points representing a position and elevation of a particular location along the roadway; generating, by a processor, a 2D grid of the roadway, the 2D grid including a plurality of cells, each cell representing an area of the roadway; generating a first set of data points for each cell of the plurality of cells based on the positions of the plurality of data points; filtering the first set of data points for each cell of the plurality of cells in order to generate a second set of data points for each cell of the plurality of cells; for each cell of the plurality of cells, identifying a data point of the second set of data points associated with a lowest relative elevation; and generating an elevation map of the roadway based on the identified data points of the second sets of data points associated with the lowest relative elevations.