The present disclosure provides a method and an apparatus for creating an occupancy grid map, as well as a processing apparatus. The method includes: creating a current occupancy grid map based on a location of the vehicle and a previous occupancy grid map; and determining a current probability that each grid in the current occupancy grid map belongs to each of occupancy categories based on last environment perception information received from the sensors and updating an occupancy category to which each grid in the current occupancy grid map belongs based on the current probability that the grid belongs to each of the occupancy categories, in accordance with an asynchronous updating policy.

Aspects described herein provide a computer-implemented method and system for generating topographic map data at different scales. More specifically, the topographic map data is reduced from large scale to small scale, wherein the scale of the vector features is reduced according to their geometry, feature type and attributes. In order to quickly and easily output digital maps at different scales so that a user may quickly zoom in and out of a map, different zoom levels are produced for different scales, each zoom level containing a variable amount of detail according to its scale, with larger scale zoom levels generally containing more detail than small scale zoom levels. Each zoom level is made up of one or more vector tiles representative of a geographic area, wherein the vector tiles may contain one or more vector features that are representative of objects within that geographic area, and other information related to that geographical area.

Disclosed herein is a technique for generating and providing an indication to an autonomous vehicle regarding the confidence level for the accuracy or quality of the map data in which the indication is determined from observation data received from other vehicles.

The indoors and outdoors are mapped into a grid comprised of cells using geohashing, wherein buildings, solid structures, and walkways are separately rendered and incorporated into the digital computer implementation, the size of each cell being indicative of the physical dimensions. Each cell has associated location-based static and temporal data that represent some aspect of the corresponding real-life representation of the cell, resulting in large amount of well-structured and useful data. A key method of this invention is an adaptation of fast pathfinding using cell-based vector field algorithm that is used in interactive computer gaming in virtual environments.

A mobile robot operation method according to an aspect of the present invention includes: a step for receiving a guidance destination input; a step for generating a global path to the received guidance destination; a step for generating a left travel guideline and a right travel guideline on the left side and the right side of the generated global path; and a step for generating a local path within a travelable range between the left travel guideline and the right travel guideline. Accordingly, the robot operation method may generate a safe and optimal guidance path when providing a guidance service.

A method and a device for performing targeted calibration are described. In an example, instructions to acquire spatial data in a predefined region in an indoor space is are received, the indoor space divided into a grid of a plurality of polygonal tiles in a size-wise hierarchy and tessellated at each level of the size-wise hierarchy, wherein the instructions comprise information regarding a group of polygonal tiles from amongst the plurality of polygonal tiles in the predefined region to gather the spatial data for, the group of polygonal tiles selected at a hierarchical level in the size-wise hierarchy, and wherein the spatial data is to be gathered for the group of polygonal tiles along a substantially continuous path connecting the group of polygonal tiles to be traversed for gathering the spatial data. In response to the instructions, acquisition of the spatial data along the substantially continuous path may be commenced. A feedback indicative of conformance, in real-time, to the substantially continuous path may be generated and the acquisition of the spatial data may be adjusted, based on the feedback.

The present technology provides systems, methods, and devices that can update aspects of a map as an autonomous vehicle navigates a route, and therefore avoids the need for dispatching a special purpose mapping vehicle for these updates. As the autonomous vehicle navigates the route, data captured by at least one sensor of an autonomous vehicle can indicate an inconsistency between pre-mapped from a high-resolution sensor system describing a location on a map, and current data describing a new feature of the location. The current data can be clustered together based on a threshold spatial closeness, where the clustering describes the new feature, and semantic labels of the pre-mapped data from the high-resolution sensor system can be updated based on the new feature described by the clustered current data.

A method and system for continuously re-planning a vehicle's path, in the face of stationary and moving obstacles, dynamically calculates a new path in real time which is both efficient and maintains minimum safety clearances relative to obstacles. Repulsion signals emanating from obstacles and propagating through delineated sections of a grid representing a geographic space are summed along with values representing the relative distance of the sections from the vehicle origin and vehicle destination. The grid sections having optimal values according to a predetermined criteria represent an efficient and safe travel path between the vehicle origin and destination.

Road information of surroundings of an own vehicle is kept as latest version as possible, and road information of distant areas are updated efficiently. A map providing device according to the present invention searches for an update target portion included in a planned travel route, and also searches for an update target portion with an end point of the planned travel route being a starting point.

A method for providing data for a driver assistance system of a motor vehicle includes communicating position data concerning a position of the motor vehicle to the driver assistance system, requesting additional information from a server if the driver assistance system requires additional information with respect to the position data, and communicating, in response to the requesting, the additional information from the server to the driver assistance system.