Abstract: A method for synchronizing neighboring tiles in an electronic map is described. The method includes grouping neighboring tiles of the electronic map into a plurality of tile groups. The method also includes selecting a first tile group and a second tile group that border one another on at least a first tile in the first tile group and a second tile in the second tile group. The method further includes independently optimizing the first tile group and the second tile group if a feature crosses between the first tile group and the second tile group. The method also includes shifting a border of the first tile group and a border of the second tile group to join the first tile and the second tile in the second tile group or the first tile group.

Abstract: A method for fitting an odometry noise model of a vehicle is described. The method includes collecting multiple passes of sensor measurements from motion sensors of the vehicle to measure a motion sensor noise during a testing operation of the vehicle. The method also includes determining an estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle. The method further includes determining the odometry noise model of the vehicle according to the estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle. The method also includes compensating, using the odometry noise model, the motion sensor noise during normal operation of the vehicle.

Abstract: A method for fitting an odometry noise model of a vehicle is described. The method includes collecting multiple passes of sensor measurements from motion sensors of the vehicle to measure a motion sensor noise during a testing operation of the vehicle. The method also includes determining an estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle. The method further includes determining the odometry noise model of the vehicle according to the estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle. The method also includes compensating, using the odometry noise model, the motion sensor noise during normal operation of the vehicle.

Abstract: A method for synchronizing neighboring tiles in an electronic map is described. The method includes grouping neighboring tiles of the electronic map into a plurality of tile groups. The method also includes selecting a first tile group and a second tile group that border one another on at least a first tile in the first tile group and a second tile in the second tile group. The method further includes independently optimizing the first tile group and the second tile group if a feature crosses between the first tile group and the second tile group. The method also includes shifting a border of the first tile group and a border of the second tile group to join the first tile and the second tile in the second tile group or the first tile group.