Abstract: In various examples, a technique for managing data uploads from location-aware systems includes determining a set of attributes associated with a set of data uploaded using a set of location-aware systems in a geographic region. The technique also includes computing a set of upload control parameters for the geographic region based at least on the set of attributes. The technique further includes receiving, from a location-aware system, a request indicating the geographic region. The technique additionally includes sending, to the location-aware system in response to the request, the set of upload control parameters within one or more control layers included in map data for the geographic region, wherein the location-aware system controls upload of additional data associated with the geographic region based at least on the one or more control layers.

Abstract: In various examples, a technique for managing data uploads from location-aware systems includes determining a set of attributes associated with a set of data uploaded using a set of location-aware systems in a geographic region. The technique also includes computing a set of upload control parameters for the geographic region based at least on the set of attributes. The technique further includes receiving, from a location-aware system, a request indicating the geographic region. The technique additionally includes sending, to the location-aware system in response to the request, the set of upload control parameters within one or more control layers included in map data for the geographic region, wherein the location-aware system controls upload of additional data associated with the geographic region based at least on the one or more control layers.

Abstract: According to one or more embodiments, operations may relate to a point cloud being generated based at least on filtering out points from a first point cloud based at least on an analysis of which of the filtered out points correspond to respective points of one or more second point clouds different from the first point cloud.

Abstract: Approaches presented herein provide for the selection of tracks of data to be used to generate, or update, a digital representation or reconstruction of a physical environment. Tracks of data may be obtained that correspond to roads or other features of a region, but there may be more tracks of data obtained for certain features than is needed, and few tracks obtained for other features. A selection process can cluster track segments into buckets, and attempt to select tracks so that the number of tracks for each bucket is above a minimum track threshold and below a maximum track threshold. An interactive selection process can be used, where selection of a track causes that track to be selected for all associated buckets that have not yet reached the maximum track threshold. Once at least a minimum number of tracks have been selected for each bucket, the tracks can be registered and provided for generation of the digital representation.

Abstract: According to one or more embodiments, operations may comprise obtaining a first point cloud. The operations also comprise performing segmentation of the first point cloud, the segmentation generating one or more clusters of points of the point cloud. The operations also comprise determining, for each respective cluster of the plurality of clusters, a respective geometric feature of a corresponding object that corresponds to the respective cluster. The operations also comprise obtaining a second point cloud. The operations also comprise assigning a plurality of weights that comprises assigning a respective weight to each respective cluster based on the respective geometric feature that corresponds to the respective cluster. The operations also comprise obtaining a second point cloud and aligning the first point cloud with the second point cloud based on the plurality of weights.

Abstract: Approaches presented herein provide for the matching and alignment of features in different instances of sensor data corresponding to an environment. At least one embodiment provides for accurate identification of matching lane dividers between two or more tracks obtained from sensor-equipped vehicles or machines. An initial transform can be determined using a seed area for tracks of data, where the seed area can be determined using landmarks, lane boundaries, or other such objects identified from the sensor data. The initial transform can be used to determine lane divider matches in the track data. If successfully evaluated, these lane divider matches from the seed areas can be propagated out in one or more tracking directions along a roadway to determine lane divider matches along entire stretches of roadway, including roads that pass through intersections or other relatively complex regions.

Abstract: Approaches presented herein provide for the matching and alignment of features in different instances of sensor data captured for an environment. At least one embodiment provides for accurate identification of matching landmarks between two or more tracks obtained from sensor-equipped machines. Track information can be collected to identify a number of landmarks within a region, and edges can be determined between landmarks that are within a maximum or determined distance from one another, forming edges that extend from one landmark to other landmarks within that distance to create a landmark graph. Landmark graphs for multiple tracks may be compared to identify corresponding edges. A set of corresponding edges for individual landmarks can be selected and counted to determine whether the edges between the different tracks satisfy a correspondence criterion or exceeds a correspondence threshold value, which is indicative of a matching landmark between the different tracks.

Abstract: In various examples, a technique for managing data uploads from location-aware systems includes determining a set of attributes associated with a set of data uploaded using a set of location-aware systems in a geographic region. The technique also includes computing a set of upload control parameters for the geographic region based at least on the set of attributes. The technique further includes receiving, from a location-aware system, a request indicating the geographic region. The technique additionally includes sending, to the location-aware system in response to the request, the set of upload control parameters within one or more control layers included in map data for the geographic region, wherein the location-aware system controls upload of additional data associated with the geographic region based at least on the one or more control layers.

Abstract: Operations may comprise obtaining a plurality of light detection and ranging (LIDAR) scans of a region. The operations may also comprise identifying a plurality of LIDAR poses that correspond to the plurality of LIDAR scans. In addition, the operations may comprise identifying, as a plurality of keyframes, a plurality of images of the region that are captured during capturing of the plurality of LIDAR scans. The operations may also comprise determining, based on the plurality of LIDAR poses, a plurality of camera poses that correspond to the keyframes. Further, the operations may comprise identifying a plurality of two-dimensional (2D) keypoints in the keyframes. The operations also may comprise generating one or more three-dimensional (3D) keypoints based on the plurality of 2D keypoints and the respective camera poses of the plurality of keyframes.

Abstract: According to an aspect of an embodiment, operations may comprise receiving an approximate geographic location of a vehicle, accessing a map of a region within which the approximate geographic location of the vehicle is located, identifying a first region on the map within a first threshold distance of the approximate geographic location of the vehicle, identifying a second region on the map associated with one or more roads on the map, determining a search space on the map within which the vehicle is likely to be present, the search space representing an intersection of the first region and the second region, and determining a more accurate geographic location of the vehicle by performing a search within the search space.

Abstract: According to an aspect of an embodiment, operations may comprise accessing a set of vehicle poses of one or more vehicles; for each of the set of vehicle poses, accessing a high definition (HD) map of a geographical region surrounding the vehicle pose, with the HD map comprising a three-dimensional (3D) representation of the geographical region, determining a measure of constrainedness for the vehicle pose, with the measure of constrainedness representing a confidence for performing localization for the vehicle pose based on 3D structures surrounding the vehicle pose, and storing the measure of constrainedness for the vehicle pose; and for each of the geographical regions surrounding each of the set of vehicle poses, determining a measure of constrainedness for the geographical region based on measures of constrainedness of vehicle poses within the geographical region, and storing the measure of constrainedness for the geographical region.

Abstract: According to an aspect of an embodiment, operations may comprise receiving, from a LIDAR mounted on a vehicle, a first 3D point cloud comprising points of a region around the vehicle as observed by the LIDAR. The operations may also comprise accessing an HD map comprising a second 3D point cloud comprising points of the region around the vehicle. The operations may also comprise segmenting LIDAR ground points from LIDAR non-ground points in the first 3D point cloud. The operations may also comprise segmenting map ground points from map non-ground points in the second 3D point cloud. The operations may also comprise determining a pose of the vehicle by matching the LIDAR ground points to the map ground points and by matching the LIDAR non-ground points to the map non-ground points.

Abstract: An autonomous vehicle system removes ephemeral points from lidar samples. The system receives a plurality of light detection and ranging (lidar) samples captured by a lidar sensor. Along with the lidar samples, the system receives an aligned pose and an unwinding transform for each of the lidar samples. The system determines one or more occupied voxel cells in a three-dimensional (3D) space using the lidar samples, their aligned poses, and their unwinding transforms. The system identifies occupied voxel cells representative of noise associated with motion of an object relative to the lidar sensor. The system filters the occupied voxel cells by removing the cells representative of noise. The system inputs the filtered occupied voxel cells in a 3D map comprising voxel cells, e.g., during the map generation and/or a map update.

Abstract: According to one or more embodiments, operations may comprise obtaining a first point cloud. The operations also comprise performing segmentation of the first point cloud, the segmentation generating one or more clusters of points of the point cloud. The operations also comprise determining, for each respective cluster of the plurality of clusters, a respective geometric feature of a corresponding object that corresponds to the respective cluster. The operations also comprise obtaining a second point cloud. The operations also comprise assigning a plurality of weights that comprises assigning a respective weight to each respective cluster based on the respective geometric feature that corresponds to the respective cluster. The operations also comprise obtaining a second point cloud and aligning the first point cloud with the second point cloud based on the plurality of weights.

Abstract: According to an aspect of an embodiment, operations may comprise receiving, from a LIDAR mounted on a vehicle, a first 3D point cloud comprising points of a region around the vehicle as observed by the LIDAR. The operations may also comprise accessing an HD map comprising a second 3D point cloud comprising points of the region around the vehicle. The operations may also comprise segmenting LIDAR ground points from LIDAR non-ground points in the first 3D point cloud. The operations may also comprise segmenting map ground points from map non-ground points in the second 3D point cloud. The operations may also comprise determining a pose of the vehicle by matching the LIDAR ground points to the map ground points and by matching the LIDAR non-ground points to the map non-ground points.

Abstract: According to an aspect of an embodiment, operations may comprise receiving a search query for points near a query-point, accessing a compressed octree representation of a point cloud comprising 3D points of a region, and traversing the compressed octree representation to identify regions that overlap a search space by, marking a current node as overlapping the search space responsive to determining that the current node is a leaf node, identifying a child node of the current node and performing a nearest neighbor search in the child node responsive to determining that a region represented by the current node overlaps the search space, and identifying a sibling node of the current node and performing the nearest neighbor search in the sibling node responsive to determining that a region represented by the current node does not overlap the search space.

Abstract: According to an aspect of an embodiment, operations may comprise for each of the set of geographic X-positions, accessing an HD map of a geographical region surrounding the geographic X-position, determining a convergence range for the geographic X-position, and storing the convergence range for the geographic X-position in the HD map. The operations may also comprise accessing the HD map, predicting a next geographic X-position of a target vehicle, predicting a covariance of the predicted next geographic X-position, accessing the convergence range for the geographic X-position in the HD map closest to the predicted next geographic X-position, estimating a current geographic X-position of the target vehicle by performing a localization algorithm, and determining a confidence value for the estimated current geographic X-position of the target vehicle based on the predicted next geographic X-position, the predicted covariance, and the accessed convergence range.

Abstract: Operations may comprise obtaining a plurality of light detection and ranging (LIDAR) scans of a region. The operations may also comprise identifying a plurality of LIDAR poses that correspond to the plurality of LIDAR scans. In addition, the operations may comprise identifying, as a plurality of keyframes, a plurality of images of the region that are captured during capturing of the plurality of LIDAR scans. The operations may also comprise determining, based on the plurality of LIDAR poses, a plurality of camera poses that correspond to the keyframes. Further, the operations may comprise identifying a plurality of two-dimensional (2D) keypoints in the keyframes. The operations also may comprise generating one or more three-dimensional (3D) keypoints based on the plurality of 2D keypoints and the respective camera poses of the plurality of keyframes.

Abstract: According to one or more embodiments, operations may comprise obtaining a first point cloud. The operations also comprise performing segmentation of the first point cloud, the segmentation generating one or more clusters of points of the point cloud. The operations also comprise determining, for each respective cluster of the plurality of clusters, a respective geometric feature of a corresponding object that corresponds to the respective cluster. The operations also comprise obtaining a second point cloud. The operations also comprise assigning a plurality of weights that comprises assigning a respective weight to each respective cluster based on the respective geometric feature that corresponds to the respective cluster. The operations also comprise obtaining a second point cloud and aligning the first point cloud with the second point cloud based on the plurality of weights.

Abstract: According to an aspect of an embodiment, operations may comprise accessing a set of vehicle poses of one or more vehicles; for each of the set of vehicle poses, accessing a high definition (HD) map of a geographical region surrounding the vehicle pose, with the HD map comprising a three-dimensional (3D) representation of the geographical region, determining a measure of constrainedness for the vehicle pose, with the measure of constrainedness representing a confidence for performing localization for the vehicle pose based on 3D structures surrounding the vehicle pose, and storing the measure of constrainedness for the vehicle pose; and for each of the geographical regions surrounding each of the set of vehicle poses, determining a measure of constrainedness for the geographical region based on measures of constrainedness of vehicle poses within the geographical region, and storing the measure of constrainedness for the geographical region.