Method and system for map construction
A method of retrieving a map is disclosed. The method includes receiving a grid data of the map comprising lane segments, wherein the grid data includes an array of grids each associated with a list including none or at least one of the lane segments intersecting the respective grid; receiving coordinates of a location; identifying a first grid including the location based on the grid data; identifying a target grid that has an associated list including at least one of the lane segments as first lane segment; and outputting the first lane segment.
1. A method of constructing a map, comprising:
receiving image data;
constructing polylines based on the image data;
converting the polylines into a plurality of polyline segments;
constructing lane segments based on the polyline segments;
obtaining one or more lanes by assigning each lane segment from the lane segments to a corresponding lane;
creating a lane graph representation of the lanes, wherein the lane graph is formed by nodes representing respective lane segments, wherein each edge of the graph connects a first node corresponding to a first segment of a lane and a second node corresponding to a second segment of the lane, and wherein the second segment is adjacent to the first segment within the lane, and
partitioning the map into a grid of slots and generating, for each of the slots, a list of lanes intersecting with the slot.
2. The method of claim 1 , comprising:
generating a plurality of waypoints for each of the lanes in a space between positions of a left boundary of the lane and a right boundary of the lane.
3. The method of claim 2 , comprising performing up-sampling and data smoothing for the plurality of waypoints.
4. The method of claim 1 , comprising associating a traffic tag with at least some of the lane segments.
5. The method of claim 4 , wherein the traffic tag is a mile marker.
6. The method of claim 4 , wherein the traffic tag is a speed limit sign.
7. The method of claim 1 , comprising receiving coordinates of a location and identifying a slot including the location.
8. The method of claim 7 , comprising determining a lane segment closest to the location and identifying a slot in which the lane segment closest to the location is located.
9. A system, comprising:
a processor; and
a memory including processor-executable instructions that, when executed by the processor, cause the system to perform operations of constructing a map comprising:
receiving image data;
constructing polylines based on the image data;
converting the polylines into a plurality of polyline segments;
constructing lane segments based on the polyline segments;
obtaining one or more lanes by assigning each lane segment from the lane segments to a corresponding lane;
creating a lane graph representation of the lanes, wherein the lane graph is formed by nodes representing respective lane segments, wherein each edge of the graph connects a first node corresponding to a first segment of a lane and a second node corresponding to a second segment of the lane, and wherein the second segment is adjacent to the first segment within the lane, and
partitioning the map into a grid of slots and generating, for each of the slots, a list of lanes intersecting with the slot, wherein the list includes no lane segments or at least one lane segment from the lane segments that intersects with the slot.
10. The system of claim 9 , wherein the operations comprise obtaining coordinates of a location and identifying a slot from the grid of slots that includes the location.
11. The system of claim 10 , wherein the operations comprise receiving a satellite positioning signal and converting the satellite positioning signal into the coordinates.
12. The system of claim 10 , wherein the operations comprise determining a first lane segment closest to the location and identifying a slot in which the first lane segment is located.
13. The system of claim 12 , wherein the operations comprise identifying a second lane segment based on the first lane segment and the lane graph representation of the lanes.
14. A non-transitory computer readable storage medium comprising executable instructions that, when executed by at least one processor, cause the at least one processor to perform operations of constructing a map, comprising:
receiving image data;
constructing polylines based on the image data;
converting the polylines into a plurality of polyline segments;
constructing lane segments based on the polyline segments;
obtaining one or more lanes by assigning each lane segment from the lane segments to a corresponding lane;
creating a lane graph representation of the lanes, wherein the lane graph is formed by nodes representing respective lane segments, wherein each edge of the graph connects a first node corresponding to a first segment of a lane and a second node corresponding to a second segment of the lane, and wherein the second segment is adjacent to the first segment within the lane; and
partitioning the map into a grid of slots and associating, with each of the slots, a list including none lane segments or at least one lane segment from the lane segments that intersects with the slot.
15. The non-transitory computer readable storage medium of claim 14 , wherein the operations comprise determining a lane segment closest to a location.
16. The non-transitory computer readable storage medium of claim 15 , wherein the operations comprise identifying a slot including the location and identifying a target slot that has an associated list including at least one of the lane segments.
17. The non-transitory computer readable storage medium of claim 16 , wherein the identifying the target slot is performed using a distance measured between respective vertices of slots in the grid of slots.