INTENSITY MAP-BASED LOCALIZATION WITH ADAPTIVE THRESHOLDING
First Claim
1. An autonomous navigation system using intensity-based localization, comprising:
- one or more sensors disposed on a vehicle; and
a computing device in communication with the one or more sensors, comprising;
one or more processors for controlling the operations of the computing device; and
a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to;
receive data including a plurality of intensity values from the one or more sensors as the vehicle traverses a route;
generate a first group of intensity values wherein the first group includes at least some of the plurality of intensity values received;
remove the intensity values below an adaptive threshold from the first group of intensity values to generate a second group of intensity values;
compare the second group of intensity values to an intensity map; and
generate a localized vehicle position based on the comparison between the second group of intensity values and the intensity map.
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Accused Products
Abstract
A system, device, and methods for autonomous navigation using intensity-based localization. One example computer-implemented method includes receiving data including a plurality of intensity values from one or more sensors disposed on a vehicle as the vehicle traverses a route and generating a first group of intensity values wherein the first group includes at least some of the plurality of intensity values received. The method further includes removing the intensity values below an adaptive threshold from the first group of intensity values to generate a second group of intensity values, comparing the second group of intensity values to an intensity map, and generating a localized vehicle position based on the comparison between the second group of intensity values and the intensity map.
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Citations
20 Claims
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1. An autonomous navigation system using intensity-based localization, comprising:
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one or more sensors disposed on a vehicle; and a computing device in communication with the one or more sensors, comprising; one or more processors for controlling the operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to; receive data including a plurality of intensity values from the one or more sensors as the vehicle traverses a route; generate a first group of intensity values wherein the first group includes at least some of the plurality of intensity values received; remove the intensity values below an adaptive threshold from the first group of intensity values to generate a second group of intensity values; compare the second group of intensity values to an intensity map; and generate a localized vehicle position based on the comparison between the second group of intensity values and the intensity map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer-implemented method for autonomous navigation using intensity-based localization, comprising:
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receiving data including a plurality of intensity values from one or more sensors disposed on a vehicle as the vehicle traverses a route; generating a first group of intensity values wherein the first group includes at least some of the plurality of intensity values received; removing the intensity values below an adaptive threshold from the first group of intensity values to generate a second group of intensity values; comparing the second group of intensity values to an intensity map; and generating a localized vehicle position based on the comparison between the second group of intensity values and the intensity map. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A computing device, comprising:
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one or more processors for controlling the operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to; receive data including a plurality of intensity values from one or more sensors disposed on a vehicle as the vehicle traverses a route; generate a first group of intensity values wherein the first group includes at least some of the plurality of intensity values received; remove the intensity values below an adaptive threshold from the first group of intensity values to generate a second group of intensity values; compare the second group of intensity values to an intensity map; and generate a localized vehicle position based on the comparison between the second group of intensity values and the intensity map. - View Dependent Claims (18, 19, 20)
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Specification