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

Claim 19:
20. A system for localization of an autonomous vehicle (AV), the system comprising:
at least one processor; and
at least one memory storing instructions that are operable, when executed by the at least one processor, cause the at least one processor to:
generate a pose-based predicted location of a landmark relative to the AV,
wherein the pose-based predicted location of the landmark relative to the AV is generated based on:
a local pose instance that defines a location of the AV within a mapping of an environment, and
a stored location of the landmark within the mapping of the environment, and

wherein the local pose instance is generated without direct utilization of any LIDAR data from a LIDAR sensor of the AV;

generate a LIDAR-based predicted location of the landmark relative to the AV,
wherein generating the LIDAR-based predicted location of the landmark relative to the AV is based on identifying, in an instance of LIDAR data that temporally corresponds to the local pose instance, one or more features that are indicative of the landmark;

generate a correction instance based on comparing the pose-based predicted location and the LIDAR-based predicted location;
using the correction instance in generating an additional local pose instance, the additional local pose instance being generated without direct utilization of any LIDAR data from the LIDAR sensor; and
cause the AV to be controlled based on the additional local pose instance.