Patent ID: 11875615
Assignee: TOYOTA RESEARCH INSTITUTE, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. A system for fitting an odometry noise model of a vehicle, the system comprising:
a sensor noise measurement module to collect multiple passes of sensor measurements from motion sensors of the vehicle to measure a motion sensor noise during a testing operation of the vehicle;
a standard deviation module to determine an estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle;
a learned odometry noise model to determine the odometry noise model of the vehicle according to the estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle; and
an odometry noise compensation module to compensate, using the odometry noise model, the motion sensor noise during normal operation of the vehicle, and to generate a high-definition (HD) electronic map based on a vehicle odometry signal of a fleet of vehicles compensated based on a respective one of the odometry noise model.