System and method for multi-plane routing
A computer-implemented system and method distilling three-dimensional structure to a two-dimensional raster with multiple discrete planes for purposes of safe and accurate route planning including a map generator, pixel encoder, map transformer, and route generator. The map generator generates a raster map by populating a blank map canvas with raster and vector data on a per-pixel basis and obtains values for pixels from the pixel encoder. The pixel encoder encodes type, plane, and elevator information of features into pixels. The map transformer converts the map produced by the map generator into a weighted graph of nodes and edges suitable for route generation. The route generator generates routes using the graph produced by the map transformer.
1 . A method for generating a route through terrain, the method comprising:
obtaining vector data corresponding to features of the terrain, wherein each feature in the vector data includes a key-value pair;
determining if the key-value pair has a type, wherein:
when the key-value pair has a type, determining a first value associated with the type;
when the key-value pair does not have a type, assigning a second value associated with the type;
generating, by a computing system, a raster map corresponding to the terrain based on one of the first value or the second value, wherein:
the raster map includes a plurality of pixels and each pixel has an associated set of bits that indicates whether a pixel corresponds to an endpoint of a feature of the terrain;
the raster map includes:
a first pixel that is indicated as a first endpoint of a first feature of the terrain;
a second pixel that is indicated as a second endpoint of the first feature; and
a third pixel between the first pixel and the second pixel that is not indicated as an endpoint;
receiving, by the computing system, a user request for a route from a start point to an end point in the terrain;
generating, by the computing system, the route from the start point to the end point based on the plurality of pixels of the raster map, wherein the generated route passes through the first endpoint and the second endpoint; and
providing, by the computing system and for display to a user, the generated route from the start point to the end point for one or both of vehicle navigation and pedestrian navigation, wherein a display of the generated route is based at least in part on the raster map.
2 . The method of claim 1 , wherein an associated set of bits for a pixel of the raster map indicates a corresponding endpoint is one of:
an up-type endpoint;
a down-type endpoint; or
an up-and-down-type endpoint.
3 . The method of claim 1 , wherein the first endpoint is an up-type endpoint, the second endpoint is a down-type endpoint, and the route from the start point to the end point passes through the first endpoint, followed by the second endpoint.
4 . The method of claim 1 , wherein the first endpoint is an up-and-down-type endpoint, the second endpoint is an up-and-down-type endpoint, and the route from the start point to the end point passes through the second endpoint, followed by the first endpoint.
5 . The method of claim 1 , wherein the raster map further indicates, for each pixel using an associated set of bits, a type for the corresponding terrain.
6 . The method of claim 5 , wherein, for each pixel, the type is selected from the group consisting of grass, a trail, a road, and a combination of trail and road.
7 . The method of claim 5 , wherein, for each pixel, the type indicates a plane within the terrain.
8 . The method of claim 7 , wherein the terrain includes at least two of:
a tunnel plane;
a ground plane; and
a bridge plane.
9 . The method of claim 1 , wherein the first feature is a bridge or a tunnel of the terrain.
10 . The method of claim 1 , wherein a set of bits for a pixel of the plurality of pixels comprises at least one of:
a subset of bits that represent a type on a plane of the terrain; or
a subset of bits that represent a connection between a first plane and a second plane of the terrain.
11 . A method for generating a route through terrain, the method comprising:
obtaining vector data corresponding to features of the terrain, wherein each feature in the vector data includes a key-value pair;
determining if the key-value pair has a type, wherein:
when the key-value pair has a type, determining a first value associated with the type;
when the key-value pair does not have a type, assigning a second value associated with the type;
generating, based on one of the first value or the second value, a raster map corresponding to the terrain, wherein the raster map includes a plurality of pixels and each pixel has an associated set of bits that encodes a corresponding feature of the terrain;
generating, based on the raster map, a set of nodes comprising:
a first node corresponding to a first plane of the terrain; and
a second node corresponding to a second plane of the terrain;
generating, for each of the first node and the second node, at least one connection with another node;
receiving, by a computing system, a user request for a route from a start point to an end point in the terrain;
generating, by the computing system, the route from the start point to the end point based on the set of nodes and associated connections; and
providing, by the computing system and for display to a user, the generated route from the start point to the end point for one or both of vehicle navigation and pedestrian navigation.
12 . The method of claim 11 , wherein the first node and the second node are connected to indicate it is possible to move between the first plane and the second plane via the first node and the second node.
13 . The method of claim 11 , wherein:
the first node is a ground node;
the second node is a bridge node; and
the set of nodes further comprises a third node that is connected to the second node, thereby indicating the third node is an adjacent bridge node.
14 . The method of claim 11 , wherein generating a connection with another node comprises identifying the another node from a disconnected node list.
15 . The method of claim 11 , wherein a connection between the first node and a third node of the set of nodes has an associated speed for traversing corresponding terrain between the first node and the third node.
16 . A method for generating a route through terrain, the method comprising:
obtaining, by a computing system, vector data corresponding to a feature of the terrain, wherein each feature in the vector data includes a key-value pair;
determining if the key-value pair has a type, wherein:
when the key-value pair has a type, determining a first value associated with the type;
when the key-value pair does not have a type, assigning a second value associated with the type;
determining, based on the vector data, a shape type for the feature;
defining, within a raster map that corresponds to the terrain, a set of pixels for the feature, wherein:
each pixel of the set of pixels has an associated set of bits that correspond to the determined shape type; and
the raster map is based on one of the first value or the second value;
receiving, by the computing system, a user request for a route from a start point to an end point in the terrain;
generating, by the computing system, the route from the start point to the end point based on the raster map; and
providing, by the computing system and for display to a user, the generated route from the start point to the end point for one or both of vehicle navigation and pedestrian navigation, wherein a display of the generated route is based at least in part on the raster map.
17 . The method of claim 16 , wherein the shape type for the feature is determined by querying a shape type property of the vector data.
18 . The method of claim 16 , wherein a set of bits for a pixel that corresponds to the feature comprises at least one of:
a subset of bits that represent the shape type on a plane of the terrain; or
a subset of bits that represent a connection between a first plane and a second plane of the terrain.
19 . The method of claim 16 , wherein a set of bits for a pixel that corresponds to the feature comprises an indication that the pixel is an endpoint of the feature.
20 . The method of claim 16 , wherein the shape type is one of a road, a bridge, or a tunnel.