Patent ID: 11875615
Assignee: TOYOTA RESEARCH INSTITUTE, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 10:
11. The non-transitory computer-readable medium of claim 8, in which the program code to determine the estimated standard deviation further comprises:
program code to visualize odometry signals based on simulated passes of sensor measurements, in which a trajectory of a simulation begins at a same location according to a positional parameter and an orientation parameter;
program code to estimate an average orientation for each pose of the visualizing of the odometry signals as a function of a distance traveled by the vehicle;
program code to normalize the average orientation by a square root of the distance traveled to attain the estimated standard deviation of the motion sensor noise;
program code to re-visualize the odometry signals based on the average orientation as the function of the distance traveled; and
program code to plot an estimated X-direction standard deviation signal and an estimated Y-direction standard deviation signal of the motion sensor noise of the vehicle over the distance traveled based on the program code to re-visualize the odometry signals.