System and method for image based mapping, localization, and pose correction of a vehicle with landmark transform estimation
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United States of America Patent
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Sep 13, 2016
Issued Date -
N/A
app pub date -
Mar 21, 2016
filing date -
Feb 8, 2014
priority date (Note) -
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Abstract
A system and method for mapping, localization and pose correction including, determining a current position of a vehicle along a travel route and a set of currently observable landmarks along the travel route relative to the current position, the set of currently observable landmarks extracted from one or more stereo images obtained from an imaging device, and querying a survey landmark database to identify a subset of surveyed landmarks relative to the current position of the vehicle. The method including determining one or more two-dimensional transform estimates between the set of currently observable landmarks and the subset of surveyed landmarks and identifying a best transform estimate from the one or more two-dimensional transform estimates that minimizes distances between the set of currently observable landmarks and the subset of surveyed landmarks. The method including correcting a pose of the vehicle based on the best transform estimate.
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