Techniques for determining map data for localizing a vehicle in an environment are discussed herein. A vehicle can capture sensor data such as image data and can detect objects in the sensor data. Detected objects can include semantic object such as traffic lights, lane lines, street signs, poles, and the like. Rays based on a pose of the sensor and the detected objects can be determined. Intersections between the rays can be determined. The intersections can be utilized to determine candidate landmarks in the environment. The candidate landmarks can be utilized to determine landmarks and to eliminate other candidate landmarks. The map data can be determined based on the three-dimensional locations and utilized to localize vehicles.
Determining data for semantic localization
2023-09-19
Patent
Electronic Resource
English
IPC: | G06V / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
A SEMANTIC APPROACH TO SENSOR-INDEPENDENT VEHICLE LOCALIZATION
British Library Conference Proceedings | 2014
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