Patent ID: 11875519
Assignee: nan
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 20:
21. The system of claim 20, wherein the measurement model comprises at least one of:
i) an optical range-based model based at least in part on a probability distribution of measured ranges using an estimated state of the platform and the map information;
ii) an optical nearest object likelihood model based at least in part on a probability distribution of distance to an object detected using the optical samples, an estimated state of the platform and a nearest object identification from the map information;
iii) an optical map matching model based at least in part on a probability distribution derived by correlating a global location-based map derived from the map information to a local location-based map generated using the optical samples and an estimated state of the platform; and
iv) an optical closed-form model based at least in part on a relation between an estimated state of the platform and ranges to objects from the map information derived from the optical samples.