{
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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: receiving a plurality of sequences of geospatial observations from discrete trajectories; aligning and…",
  "path": "/patents/1350448",
  "publishedAt": "2023-09-07T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/3807",
    "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: receiving a plurality of sequences of geospatial observations from discrete trajectories; aligning and concatenating the trajectories to generate concatenated, aligned geospatial observations; performing attentional clustering on the concatenated, aligned geospatial observations to obtain a set of entities; processing the set of entities using one or more Set Transformers; generating a preliminary feature set of map object geometries; determining a number of output entities from each of the one or more output heads based on statistics from the plurality of sequences of geospatial observations from the discrete trajectories and a count of the discrete trajectories; and outputting a feature set, the feature set including a number of map object geometries corresponding to a respective number of output entities for the respective output head.",
  "title": "METHOD, APPARATUS, AND COMPUTER PROGRAM PRODUCT FOR DIFFERENTIAL VARIABLE COUNT ENTITY OUTPUT HEAD FOR MAP GENERATION"
}