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:
Sep. 10, 2024
Filed:
Dec. 27, 2021
Zenseact Ab, Gothenburg, SE;
Junsheng Fu, Nödinge, SE;
Han Zhang, Shanghai, CN;
Tony Gustafsson, Askim, SE;
Andreas Schindler, Gothenburg, SE;
Eduardo Sesma Caselles, Västra Frölunda, SE;
Erik Steinmetz, Landvetter, SE;
Pontus Kielén, Mölndal, SE;
Axel Beauvisage, Gothenburg, SE;
Joakim Lin Sörstedt, Gothenburg, SE;
ZENSEACT AB, Gothenburg, SE;
Abstract
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.