Patent Document ID: 20150228077
Application ID: 14458286
Patent Status: 0

Claim One:
1. A computer-implemented method for mapping, localization and pose correction, comprising: determining a current position of a vehicle along a travel route and a set of currently observable landmarks along the travel route relative to the current position, the set of currently observable landmarks extracted from one or more stereo images obtained from an imaging device; querying a survey landmark database to identify a subset of surveyed landmarks relative to the current position of the vehicle, the survey landmark database comprising a set of surveyed landmarks previously stored; determining one or more two-dimensional transform estimates between the set of currently observable landmarks and the subset of surveyed landmarks; identifying a best transform estimate from the one or more two-dimensional transform estimates that minimizes distances between the set of currently observable landmarks and the subset of surveyed landmarks; and correcting a pose of the vehicle based on the best transform estimate.