The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 30, 2021
Filed:
Jun. 21, 2018
Ford Global Technologies, Llc, Dearborn, MI (US);
Sarah Houts, Sunnyvale, CA (US);
Praveen Narayanan, San Jose, CA (US);
Graham Mills, San Francisco, CA (US);
Shreyasha Paudel, Sunnyvale, CA (US);
Ford Global Technologies, LLC, Dearborn, MI (US);
Abstract
Systems, methods, and devices for determining a location of a vehicle or other device are disclosed. A method includes receiving sensor data from a sensor and determining a prior map comprising LIDAR intensity values. The method includes extracting a sub-region of the prior map around a hypothesis position of the sensor. The method includes extracting a Gaussian Mixture Model (GMM) distribution of intensity values for a region of the sensor data by expectation-maximization and calculating a log-likelihood for the sub-region of the prior map based on the GMM distribution of intensity values for the sensor data.