Lyft, Inc.
Map Generation Using Two Sources of Sensor Data

Abstract:

Examples disclosed herein may involve a computing system that is operable to (i) receive first data of one or more geographical environments from a first type of localization sensor, (ii) receive second data of the one or more geographical environments from a second type of localization sensor, (iii) determine constraints from the first data and the second data, (iv) determine shared pose data associated with both of the first data and the second data using the constraints determined from both the first data and the second data by determining one or more sequences of common poses between respective poses generated from each of the first and second data, wherein the shared pose data provides a common coordinate frame for the first data and the second data, and (v) generate a map of the one or more geographical environments using the determined shared pose data.