Zenseact Ab

Eduardo Sesma Caselles

Tony Gustafsson

Junsheng Fu

Han Zhang

Axel Beauvisage

Joakim Lin Sörstedt

Andreas Schindler

Pontus Kielén

Erik Steinmetz

The present disclosure relates to a method for determining a vehicle pose, predicting a pose (x, y, θ) of vehicle on a map based on sensor data acquired by a vehicle localization system, transforming a set of map road references of a segment of a digital map from a global coordinate system to an image-frame coordinate system of a vehicle-mounted camera based on map data and predicted pose of the vehicle. The transformed set of map road references form a set of polylines in image-frame coordinate system. Identifying a set of corresponding image road reference features in an image acquired by vehicle mounted camera, where each identified road references feature defines a set of measurement coordinates (x, y) in image-frame. Projecting each of identified set of image road reference features onto formed set of polylines in order to obtain a set of projection points.

Vehicle localisation

Growing community of inventors

Västra Frölunda, Sweden

Eduardo Sesma Caselles