Patent ID: 11971257
Assignee: SAMSUNG ELECTRONICS CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 26:
27. A processor-implemented method of a vehicle, the method comprising:
estimating a first reference position by performing a sensor-based localization operation using one or more position sensors of the vehicle that measure respective positional information of the vehicle in a sensor-based determined current driving situation of the vehicle;
estimating, in the driving situation, a second reference position by performing an image-based localization operation based on image information of the vehicle derived using a camera of the vehicle;
generating, in a current time step, a final position of the vehicle by updating a final position of the vehicle in a previous time step based on the estimated first reference position, and based on, when an estimated error of the estimated second reference position is within an acceptance range that is variably dependent on the driving situation, a correcting of the estimated first reference position based on the estimated second reference position; and
controlling the vehicle based on the final position of the vehicle.