Here Global B.v.

Rich Valde

Bing Li

Jim Leflar

Kim Moss

Mike Wrenn

Karen Chau

John Minchuk

Embodiments described herein may provide a method for generating a three-dimensional vector model of the interior of a structure. Methods may include: receiving sensor data indicative of a trajectory; receiving sensor data defining structural surfaces within a structure; generating a three-dimensional point cloud from the sensor data defining structural surfaces within the structure; segmenting the three-dimensional point cloud into two or more segments based, at least in part, on the sensor data indicative of trajectory; generating a three-dimensional surface model of an interior of the structure based on the segmented three-dimensional point cloud with semantic recognition and labelling; and providing the three-dimensional surface model of an interior of the structure to an advanced driver assistance system to facilitate autonomous vehicle parking.

Method, apparatus and computer program product for mapping and modeling a three dimensional structure

A processor identifies a navigable space. The processor generates a polygon from the navigable space. The processor calculates skeleton lines from the polygon using a topological algorithm. The processor removes a subset of skeleton lines leaving one or more center segments. The processor generates a routing graph from the center segments.

Generation of link node routing graph using a straight skeleton algorithm

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Chicago, IL, United States of America

Rich Valde