Method and apparatus for updating road map geometry based on received probe data

Patent metadata

Field	Value
Publication number	US-11544950-B2
Application number	US-202017031168-A
Country	US
Kind code	B2
Filing date	Sep 24, 2020
Priority date	Dec 22, 2015
Publication date	Jan 3, 2023
Grant date	Jan 3, 2023

Abstract

A method is provided for generating and revising map geometry based on a received image and probe data. A method may include: receiving probe data from a first period of time, where the probe data from a first period of time is from a plurality of probes within a predefined geographic region; generating a first image of the predefined geographic region based on the probe data from the first period of time; receiving probe data from a second period of time different from the first period of time, where the probe data from the second period of time is from a plurality of probes within the predefined geographic region; generating a second image based on the probe data from the second period of time; comparing the first image to the second image; and generating a revised route geometry based on changes detected between the first image and the second image.

First claim

That which is claimed:

1. An apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and computer program code configured to, with the processor, cause the apparatus to at least:
receive probe data from a first period of time, wherein the probe data from the first period of time is from a first plurality of probes within a predefined geographic region;
generate a first image of the predefined geographic region based on the probe data from the first period of time;
receive probe data from a second period of time different from the first period of time, wherein the probe data from the second period of time is from a second plurality of probes within the predefined geographic region;
generate a second image of the predefined geographic region based on the probe data from the second period of time;
generate a differenced image based on a comparison between the first image of the predefined geographic region and the second image of the predefined geographic region;
perform a first connected component analysis on the differenced image to identify and discard noise to generate a noise-reduced differenced image, wherein the first connected component analysis employs a first pixel threshold of a first number of pixels;
perform morphological closing to connect road segments of the noise reduced differenced image to generate a morphologically closed, noise-reduced differenced image;
perform a second connected component analysis on the morphologically closed, noise-reduced differenced image to produce a further image, wherein the second connected component analysis employs a second pixel threshold of a second number of pixels, wherein the second number of pixels is greater than the first number of pixels; and
generate a revised route geometry based, at least in part, on the noise-reduced differenced image.

2. The apparatus of claim 1 ,
wherein causing the apparatus to generate a revised route geometry based, at least in part, on the noise-reduced differenced image comprises causing the apparatus to generate a revised route geometry based, at least in part, on the morphologically closed, noise-reduced differenced image.

3. The apparatus of claim 2 ,
wherein the second connected component analysis identifies portions of the differenced image that did not merge with road segments of the differenced image during morphological closing, wherein causing the apparatus to generate a revised route geometry based, at least in part, on the morphologically closed, noise-reduced differenced image comprises causing the apparatus to generate a revised route geometry based, at least in part, on the further image.

4. The apparatus of claim 2 , wherein the morphological closing comprises binary closing, wherein binary closing comprises joining of pixel groups identified as road segments within a predefined distance of one another.

5. The apparatus of claim 1 , wherein causing the apparatus to generate a revised route geometry based, at least in part, on the noise-reduced differenced image comprises causing the apparatus to:
eliminate routes appearing on the first image but failing to appear on the second image;
add routes appearing on the second image, but failing to appear on the first image; and
retain routes appearing on both the first image and the second image.

6. The apparatus of claim 5 , wherein the apparatus is further caused to:
update a map database using the revised route geometry to generate an updated map database, wherein the updated map database is used to provide navigational assistance to a user.

7. A method comprising:
receiving probe data from a first period of time, wherein the probe data from the first period of time is from a plurality of probes within a predefined geographic region;
generating a first image of the predefined geographic region based on the probe data from the first period of time;
receiving probe data from a second period of time different from the first period of time, wherein the probe data from the second period of time is from a plurality of probes within the predefined geographic region;
generating a second image of the predefined geographic region based on the probe data from the second period of time;
generating a differenced image based on a comparison between the first image of the predefined geographic region and the second image of the predefined geographic image;
performing a first connected component analysis on the differenced image to identify and discard noise to generate a noise-reduced differenced image, wherein the first connected component analysis employs a first pixel threshold of a first number of pixels;
performing morphological closing to connect road segments of the noise-reduced differenced image to generate a morphologically closed, noise-reduced differenced image;
performing a second connected component analysis on the morphologically closed, noise-reduced differenced image to produce a further image, wherein the second connected component analysis employs a second pixel threshold of a second number of pixels, wherein the second number of pixels is greater than the first number of pixels; and
generating a revised route geometry based, at least in part, on the noise-reduced differenced image.

8. The method of claim 7 ,
wherein generating a revised route geometry based, at least in part, on the noise-reduced differenced image comprises generating a revised route geometry based, at least in part, on the morphologically closed, noise-reduced differenced image.

9. The method of claim 8 ,
wherein the second connected component analysis identifies portions of the differenced image that did not merge with road segments of the differenced image during morphological closing, wherein generating a revised route geometry based, at least in part, on the morphologically closed, noise-reduced differenced image comprises generating a revised route geometry based, at least in part, on the further image.

10. The method of claim 8 , wherein the morphological closing comprises binary closing, wherein binary closing comprises joining of pixel groups identified as road segments within a predefined distance of one another.

11. The method of claim 7 , wherein generating a revised route geometry based, at least in part, on the noise-reduced differenced image comprises:
eliminating routes appearing on the first image but failing to appear on the second image;
adding routes appearing on the second image, but failing to appear on the first image; and
retaining routes appearing on both the first image and the second image.

12. The method of claim 11 , further comprising:
updating a map database using the revised route geometry to generate an updated map database, wherein the updated map database is used to provide navigational assistance to a user.

13. A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code portions stored therein, the computer-executable program code portions comprising program code instructions configured to:
receive probe data from a first period of time, wherein the probe data from the first period of time is from a plurality of probes within a predefined geographic region;
generate a first image of the predefined geographic region based on the probe data from the first period of time;
receive probe data from a second period of time different from the first period of time, wherein the probe data from the second period of time is from a plurality of probes within the predefined geographic region;
generate a second image of the predefined

Assignees

• Here Global Bv

Inventors

• Mittal Anish
• Tabb Mark David
• Gupta Himaanshu
• Perelmutova Yelena
• Lawlor David

Classifications

• G06T7/60

  Analysis of geometric attributes · CPC title

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title

• G06V30/422 Primary

  Technical drawings; Geographical maps · CPC title

• G01C21/3676

  Overview of the route on the road map · CPC title

• G09B29/004 Primary

  Map manufacture or repair; Tear or ink or water resistant maps; Long-life maps (printing processes for maps B41M3/02; by permanently attaching map sections to sheets B42B7/00) · CPC title