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

Claim 0:
1. A method, comprising:
generating, by one or more computing devices, a range image from a point cloud solution comprising an initial pose estimate for an autonomous vehicle;
querying, by the one or more computing devices, the range image for predicted ranges corresponding to lidar beams projected into the range image;
generating, by the one or more computing devices, a vector of features from the range image;
comparing, by the one more computing devices, a plurality of values to the vector of features using a binary classifier;
validating, by the one or more computing devices, 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;
initializing, by the one or more computing devices, 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;
generating, by the one or more computing devices, a query point cloud comprising coordinates collected from lidar information retrieved from a real-time lidar sweep; and
generating, by the one or more computing devices, the point cloud solution from the query point cloud and reference point cloud coordinates retrieved from the reference point cloud.