Patent Document ID: 9464894
Application ID: 14348435
Patent Status: 1

Claim One:
1. A method for localizing a vehicle along a route, the method comprising: surveying, by a survey vehicle, the route to be traversed by a subsequent vehicle by creating a plurality of orthographic images of the route with an image capture device mounted to the survey vehicle, at a plurality of locations along the route so as to define a survey vehicle trajectory; subsequently passing the subsequent vehicle along the route while obtaining a current view image of the route with an image capture device mounted to the subsequent vehicle; and resolving a pose of the subsequent vehicle relative to the survey trajectory by maximising a relation between the orthographic images and the current view image, wherein maximising a relation comprises maximising mutual information between the current view image and at least one of the orthographic images, wherein maximising mutual information between the current view image and at least one of the orthographic images includes evaluating Shannon entropy of the current view image and the at least one of the orthographic images individually and jointly.