Systems and methods for cross slope bias estimation
System, methods, and other embodiments described herein relate to implementing surface bias estimation strategies. In one embodiment, a method includes processing probe trace data with a factor graph having nodes and factors that describe an estimate of surface bias; and correcting the probe trace data based on the estimate of surface bias.
1 . A system, comprising:
a processor; and
a memory communicably coupled to the processor and storing machine-readable instructions that, when executed by the processor, cause the processor to:
receive probe trace data from vehicle sensors;
process probe trace data with a factor graph having nodes and factors that describe an estimate of cross-slope surface bias;
correct the probe trace data based on the estimate of cross-slope surface bias; and
update map data in a vehicle to include an object based on the corrected probe trace data.
2 . The system of claim 1 , wherein the machine-readable instructions further includes an instruction that, when executed by the processor, causes the processor to construct the factor graph with a set of bias nodes and a set of bias-to-bias factors, wherein each bias node of the set of bias nodes is connected to another bias node in the set of bias nodes via a bias-to-bias factor within the set of bias-to-bias factors.
3 . The system of claim 2 , wherein the machine-readable instruction to construct the factor graph further incorporates a set of pose-point-bias factors and wherein each bias node of the set of bias nodes is further connected to a subset of pose-point-bias factors within the set of pose-point-bias factors, and wherein each subset of pose-point-bias factors within the set of pose-point-bias factors is equal in size to a tunable bias parameter value.
4 . The system of claim 3 , wherein the machine-readable instruction to construct the factor graph further incorporates a set of pose nodes and a set of point nodes and wherein each pose-point-bias factor of the set of pose-point-bias factors is further connected to a pose node within the set of pose nodes and a point node within the set of point nodes.
5 . The system of claim 4 , wherein the machine-readable instruction to construct the factor graph further incorporates a set of bias-prior factors and wherein each bias node of the set of bias nodes is connected to a bias-prior factor.
6 . The system of claim 1 , wherein the machine-readable instructions further includes an instruction that, when executed by the processor, causes the processor to send a message containing corrected probe trace data to a server, where the message upon receipt instructs the server to update a server map to include the object.
7 . The system of claim 1 , wherein the machine-readable instructions further includes an instruction that, when executed by the processor, causes the processor to display display the object in the vehicle based on the map data.
8 . A non-transitory computer-readable medium including instructions that when executed by one or more processors cause the one or more processors to:
receive probe trace data from vehicle sensors;
process probe trace data with a factor graph having nodes and factors that describe an estimate of cross-slope surface bias;
correct the probe trace data based on the estimate of cross-slope surface bias; and
update map data in a vehicle to include an object based on the corrected probe trace data.
9 . The non-transitory computer-readable medium of claim 8 , wherein the instructions further includes an instruction to construct the factor graph with a set of bias nodes and a set of bias-to-bias factors, wherein each bias node of the set of bias nodes is connected to another bias node in the set of bias nodes via a bias-to-bias factor within the set of bias-to-bias factors.
10 . The non-transitory computer-readable medium of claim 9 , wherein the instruction to construct the factor graph further incorporates a set of pose-point-bias factors and wherein each bias node of the set of bias nodes is further connected to a subset of pose-point-bias factors within the set of pose-point-bias factors, and wherein each subset of pose-point-bias factors within the set of pose-point-bias factors is equal in size to a tunable bias parameter value.
11 . The non-transitory computer-readable medium of claim 10 , wherein the instruction to construct the factor graph further incorporates a set of pose nodes and a set of point nodes and wherein each pose-point-bias factor of the set of pose-point-bias factors is further connected to a pose node within the set of pose nodes and a point node within the set of point nodes.
12 . The non-transitory computer-readable medium of claim 11 , wherein the instruction to construct the factor graph further incorporates a set of bias-prior factors and wherein each bias node of the set of bias nodes is connected to a bias-prior factor.
13 . The non-transitory computer-readable medium of claim 8 , wherein the instructions further includes an instruction to display the object in the vehicle based on the map data.
14 . A method, comprising:
receiving probe trace data from vehicle sensors;
processing probe trace data with a factor graph having nodes and factors that describe an estimate of cross-slope surface bias;
correcting the probe trace data based on the estimate of cross-slope surface bias; and
updating map data in a vehicle to include an object based on the corrected probe trace data.
15 . The method of claim 14 , further comprising the step of constructing the factor graph with a set of bias nodes and a set of bias-to-bias factors, wherein each bias node of the set of bias nodes is connected to another bias node in the set of bias nodes via a bias-to-bias factor within the set of bias-to-bias factors.
16 . The method of claim 15 , wherein the step of constructing the factor graph further incorporates a set of pose-point-bias factors and wherein each bias node of the set of bias nodes is further connected to a subset of pose-point-bias factors within the set of pose-point-bias factors, and wherein each subset of pose-point-bias factors within the set of pose-point-bias factors is equal in size to a tunable bias parameter value.
17 . The method of claim 16 , wherein the step of constructing the factor graph further incorporates a set of pose nodes and a set of point nodes and wherein each pose-point-bias factor of the set of pose-point-bias factors is further connected to a pose node within the set of pose nodes and a point node within the set of point nodes.
18 . The method of claim 17 , wherein the step of constructing the factor graph further incorporates a set of bias-prior factors and wherein each bias node of the set of bias nodes is connected to a bias-prior factor.
19 . The method of claim 14 , further comprising sending a message containing corrected probe trace data to a server, where the message upon receipt instructs the server to update a server map to include the object.
20 . The method of claim 14 , further comprising displaying display the object in the vehicle based on the map data.