US Patent 11287269 Map coordinate distortion compensation

Provided herein is a system comprising: one or more processors; and a memory storing instructions that, when executed by the one or more processors, causes the system to perform: generating a projection of a map having an origin; determining distortion factors of the map relative to distances from the origin; determining a distance from a vehicle to the origin; determining a reading from a sensor of the vehicle; and adjusting the reading to coordinates of the map based on a distortion factor corresponding to the distance.