公开(公告)号：US20240416948A1

公开(公告)日：2024-12-19

申请号：US18334092

申请日：2023-06-13

Applicant: TORC Robotics, Inc.

Inventor： Matthew GOODELL

IPC: B60W60/00 ,  B60W50/06 ,  G06T5/00 ,  G06T5/10 ,  G06T5/20 ,  G06T5/50 ,  G06T7/73

Abstract: Embodiments herein include an automated vehicle performing localization functions using particle scoring and particle filters. The automated vehicle performs a phase correlation operation that transforms image data of a sensed map and pre-stored base map from a spatial to frequency domain and combines the transformed maps to generate image data of a correlation map. Estimated location information of particles are compared against sensed data or other data in sensed sub-maps or the correlation map. The automated vehicle may apply an image-convolution scoring map by combining image data of the sensed and base maps in the spatial domain. The autonomy system may calculate entropies for the correlation map and image-convolution scoring map and combines these maps based upon the respective entropies.