US Patent 11869134 Transferring data from autonomous vehicles

A system includes at least one imaging sensor and a processor. The processor is configured to acquire detected data describing an environment of an autonomous vehicle using the imaging sensor; derive reference data which describes the environment from a predefined map; compute difference data representing a difference between the detected data and the reference data; and transfer the difference data, wherein an image computed based on the difference data and the reference data represents the detected data. Other embodiments are also described.