Patent Document ID: 9443309
Application ID: 15076164
Patent Status: 1

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; receiving a subset of surveyed landmarks from a survey landmark database based on a query identifying the current position, the query executed at the survey landmark database, the survey landmark database including 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 for one or more depth levels; identifying a best transform estimate from the one or more two-dimensional transform estimates, wherein the best transform estimate 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.