Patent Document ID: 9476970
Application ID: 13423704
Patent Status: 1

Claim One:
1. A method for localizing a vehicle, the method comprising: capturing a first image of a vehicle's surroundings; determining, by one or more processors, a roll and pitch of the vehicle at a particular moment in time; determining, by one or more processors, an imaginary plane representing a two dimensional plane extending out in front of the vehicle using the roll and pitch of the vehicle such that the roll and pitch of the vehicle corresponds to a slope of the imaginary plane; projecting, by the one or more processors, points of one or more objects from within the first image onto the imaginary plane using the slope of the imaginary plane; accessing, by the one or more processors, a second image associated with a camera location of the first image and a camera orientation of the first image; projecting, by the one or more processors, points of one or more objects from within the second image onto the imaginary plane; determining, by the one or more processors, an offset between the first image and the second image based on at least one point projected from the first image onto the imaginary plane and at least one point projected from the second image onto the imaginary plane; and determining, by the one or more processors, a location of the vehicle based on the offset between the first image and the second image.