Patent ID: 8862395

Claim:
A method of determining a location of a navigator on a roadway, the method comprising: obtaining a plurality of images of a scene including at least one barcode marker at different times as the navigator moves, wherein the at least one barcode marker is disposed on infrastructure along the roadway; reading the at least one barcode marker in the plurality of images; representing a forward heading of the navigator as aligned with the roadway and having an azimuth offset of zero; determining a first relative azimuth offset between the navigator and the at least one barcode marker in a first image of the plurality of images of the scene; determining a second relative azimuth offset between the navigator and the at least one barcode marker in a second image of the plurality of images of the scene, wherein the first and second relative azimuth offsets comprise an angular change from the forward heading of the navigator; and geometrically calculating a position fix on the location of the navigator based on a known location of the at least one barcode marker and the first and second relative azimuth offsets at least in part by determining a distance from the navigator to the at least one barcode marker based on the first and second azimuth offsets and a distance traveled between obtaining the first image and the second image.