Patent ID: 11861865
Assignee: ARGO AI, LLC
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 8:
9. A system, comprising:
a memory; and
at least one processor coupled to the memory and configured to:
generate a range image from a point cloud solution comprising an initial pose estimate for an autonomous vehicle;
query the range image for predicted ranges corresponding to lidar beams projected into the range image;
generate a vector of features from the range image;
compare a plurality of values to the vector of features using a binary classifier;
validate a pose of the autonomous vehicle, wherein the validation is based on the comparison of the plurality of values to the vector of features using the binary classifier; and
initialize the initial pose estimate for the autonomous vehicle from data collected from a global positioning system within a high-definition map comprising a reference point cloud representing data from a plurality of lidar sweeps and semantic features representing surroundings of the autonomous vehicle;
generate a query point cloud comprising coordinates collected from lidar information retrieved from a real-time lidar sweep; and
generate the point cloud solution from the query point cloud and reference point cloud coordinates retrieved from the reference point cloud.