Patent Document ID: 9157743
Application ID: 13552174
Patent Status: 1

Claim One:
1. A method for correlating evidence grids, the method comprising: acquiring measurements from a sensor, wherein the sensor generates signals describing a current section of an environment relative to the system; creating an evidence grid from the measurements, wherein the evidence grid describes the probability that a location within the section of the environment is occupied by an object; creating a reduced evidence grid from the evidence grid, wherein the reduced evidence grid describes a surface of at least one object within the current section; correlating the reduced evidence grid with a reduced historical evidence grid by performing a sequential search for a highest correlative value, wherein the sequential search comprises adjusting positions and orientations of the reduced evidence grid and the reduced historical evidence grid in relation to one another and calculating correlative values for the positions and orientations, wherein the adjusted positions and orientations comprises translations and rotations, wherein the translations and the rotations performed in the adjusted positions and orientations are performed to identify the highest correlative value along an individual degree of freedom; and determining navigational parameters for a navigation system based on the adjusted positions and orientations.