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

Claim 2:
3. The method of claim 2, further comprising:
determining, by the one or more computing devices, localization spherical coordinates for the lidar beams comprising an azimuth angle, a pitch angle, and a ratio of the predicted ranges and the observed ranges corresponding to the lidar beams;
determining, by the one or more computing devices, whether the localization spherical coordinates fall within, on, or outside an ideal unit sphere, wherein the ideal unit sphere is a first threshold and comprises the localization spherical coordinates, and wherein the ratio between the predicted ranges and the observed ranges corresponding to the lidar beams is one; and
comparing, by the one more computing devices, the plurality of values to the vector of features using the binary classifier, wherein the plurality of values comprises the ratio between the predicted ranges and the observed ranges of the localization spherical coordinates.