US Patent 11168993 Constrained registration of map information

A method includes determining a first route from a first location to a second location using a first map that includes first map elements. The first route includes a series of the first map elements. The method also includes determining a second route from the first location to the second location using a second map by matching the series of the first map elements from the first route to second map elements from the second map. The method also includes monitoring a current location of a device, determining that the current location of the device does not correspond to any of the first map elements from the series of the first map elements, and determining a third route from the current location of the device toward the second location using the second map in response to determining that the current location does not correspond to any of the first map elements.