公开(公告)号：US12085403B2

公开(公告)日：2024-09-10

申请号：US17562478

申请日：2021-12-27

Applicant: ZENSEACT AB

Inventor： Junsheng Fu ,  Han Zhang ,  Tony Gustafsson ,  Andreas Schindler ,  Eduardo Sesma Caselles ,  Erik Steinmetz ,  Pontus Kielén ,  Axel Beauvisage ,  Joakim Lin Sörstedt

IPC: G01C21/36 ,  B60W40/10

CPC classification number: G01C21/3638 ,  B60W40/10 ,  G01C21/3644 ,  G01C21/3694 ,  B60W2420/403

Abstract: The present disclosure relates to a method for determining a vehicle pose, predicting a pose (xk, yk, θk) 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 (xi, yi) 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.