Algorithm and infrastructure for robust and efficient vehicle localization
US10579065B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 23, 2016 |
| Grant date | Mar 3, 2020 |
| Priority date | — |
| Expiry date | Jul 10, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06N20/00
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Location of an autonomous driving vehicle (ADV) is determined with respect to a high definition map. On-boards sensors of the ADV obtain a 3D point cloud of objects surrounding the ADV. The 3D point cloud is organized into an ADV feature space of cells. Each cell has a median intensity value and a variance in elevation. To determine the ADV location, a coarse search of a subset of cells in the ADV feature space performed with respect to the high definition map, using a similarity metric that is based on the median intensity and variance in elevation of the candidate cell. When similarity of the first candidate cell is determined, a lookup table of similarity scores is generated and used for determining the similarity score for subsequent candidate cells. Then a fine search is performed on a small subset of candidate cells surrounding the highest similarity score cell.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.