Traffic boundary mapping

1. A system, comprising

a memory; and

a processor coupled to the memory, wherein the processor is configured to:

receive a first visual data at a first time from a camera coupled to a vehicle;

identify a traffic boundary within the first visual data;

determine a location of the vehicle within a map at the first time;

determine a location of the traffic boundary within the map, based at least in part on the location of the traffic boundary within the first visual data and the location of the vehicle at the first time;

select a first one or more cells of an occupancy grid based at least in part on the determined location of the traffic boundary, wherein a plane of the occupancy grid corresponds to a plane of a road; and

increment a value of the first one or more cells.

2. The system of claim 1 , wherein the traffic boundary is a road boundary.

3. The system of claim 1 , wherein the traffic boundary is an inferred lane boundary, wherein the inferred lane is not indicated by any road markings.

4. The system of claim 3 , wherein the inferred lane boundary corresponds to an offset from a row of parked vehicles.

5. The system of claim 1 , wherein the processor is further configured to:

identify an object within the first visual data;

receive a second visual data at a second time from the camera;

identify the same object within the second visual data;

receive a movement data at the second time, and

determine a location of the object within the map based at least in part on a first location of the object in the first visual data, a second location of the object in second visual data, and the movement data.

6. The system of claim 5 , wherein the movement data comprises a signal from a wheel odometer.

7. The system of claim 1 , wherein the processor is further configured to:

process the first visual data with a neural network to produce a localization data and a traffic boundary type data; wherein the localization data corresponds to the location of the traffic boundary within the first visual data; and wherein the traffic boundary type data corresponds to a traffic boundary class to which the traffic boundary belongs.

8. The system of claim 7 , wherein the class of traffic boundary is one of a visible lane boundary, a road boundary, an intersection marking, or an inferred lane boundary.

9. The system of claim 5 , wherein the processor is further configured to:

process the first visual data with a neural network to produce an object localization data and an object type data; wherein the object localization data corresponds to the location of the object within the first visual data; and wherein the object type data corresponds to an object class to which the object belongs.

10. The system of claim 1 , wherein the processor is further configured to:

select a second one or more cells of the occupancy grid, wherein the second one or more cells substantially surround the first one or more cells; and

decrement a value of the second one or more cells.

11. The system of claim 1 , wherein determining the location of the vehicle within the map comprises determining an estimate of the location of the vehicle based at least in part on:

a Global Navigation Satellite System (GNSS);

an Inertial Measurement Unit (IMU);

a wheel odometer; and

detected objects within the first visual data.

12. The method system of claim 11 , wherein the detected objects comprise the traffic boundary.

13. The system of claim 11 , wherein determining the location of the vehicle within the map comprises:

determining a first position estimate based on an output from the GNSS;

determining a second position estimate based on the IMU and the wheel odometer;

determining a difference between the first position estimate and the second position estimate; and

configuring an error estimate associated with the GNSS based on the difference.

14. The system of claim 1 , wherein the processor is further configured to:

identify a static object within the first visual data;

determine a map location of the static object or the traffic boundary on a road-referenced landmark map;

determine a position estimate of the vehicle;

determine a topographic height of the vehicle based on a topographic map; and

project the determined map location to a position relative to an earth-based anchor point.