{
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  "description": "A method, apparatus and computer program product are provided for learning to generate maps from raw geospatial observations from sensors traveling within an environment. Methods may include: processing geospatial observations from discrete trajectories through an iterative attention model…",
  "path": "/patents/1350453",
  "publishedAt": "2023-09-07T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/3848",
    "HERE GLOBAL B.V."
  ],
  "textContent": "A method, apparatus and computer program product are provided for learning to generate maps from raw geospatial observations from sensors traveling within an environment. Methods may include: processing geospatial observations from discrete trajectories through an iterative attention model incorporating a Gated Recurrent Unit gating pattern to obtain a feature summary; determining a drive offset for each of the discrete trajectories based on the feature summary; aligning the discrete trajectories to generate aligned geospatial observations based, at least in part, on the drive offset for a respective discrete trajectory; concatenating the aligned geospatial observations; processing the concatenated, aligned geospatial observations using at least one Set Transformer; generating, from the at least one Set Transformer, map geometries including objects from the geospatial observations; and providing for at least one of navigational assistance or at least semi-autonomous vehicle control based on the map geometries.",
  "title": "METHOD AND APPARATUS FOR GENERATING MAPS FROM ALIGNED GEOSPATIAL OBSERVATIONS"
}