Patent ID: 11859994
Assignee: AURORA INNOVATION, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 11:
12. The method of claim 1, further comprising:
identifying a historical pose-based predicted location of the landmark relative to the AV, wherein the historical pose-based predicted location was generated based on:
a previous local pose instance that defines a previous location of the AV within the mapping of the environment, and
the stored location of the landmark within the mapping of the environment;

identifying a historical LIDAR-based predicted location of the landmark relative to the AV, wherein the historical LIDAR-based predicted location was generated based on:
identifying, in a previous instance of the LIDAR data that temporally corresponds to the previous local pose instance, one or more of the features that are indicative of the landmark; and

wherein generating the correction instance is further based on comparing the local historical pose-based predicted location and the historical LIDAR-based predicted location.