Patent ID: 11886189
Assignee: PERCEPTUAL ROBOTICS LIMITED
Field: Control (Instruments)
Classification: CPC G  B  F  Y | IPC B  G

Claim 13:
14. A navigation process for an autonomous vehicle, the navigation process including:
receiving a model of an object;
receiving sensor data relating to at least part of the object, the sensor data being in a sensor frame of reference, the sensor data being associated with pose data representing a pose of a sensor used to generate the sensor data;
projecting at least part of the model onto the sensor frame of reference;
identifying corresponding feature points and/or feature lines between the model and sensor data in the sensor frame of reference, wherein identifying corresponding feature points and/or feature lines between the model and sensor data in the sensor frame of reference includes defining one or more line points along a feature line identified in the model, defining search line and direction, and searching in accordance with the search line and search direction for one or more respective corresponding line points;
optimizing the pose data based on the identified correspondence, using a location difference in the corresponding feature points and/or feature lines between the model and the sensor data in the sensor frame of reference; and
defining or modifying a navigation plan using the optimized pose data.