18334092. LOCALIZATION ALGORITHM (TORC Robotics, Inc.)
LOCALIZATION ALGORITHM
Organization Name
Inventor(s)
Matthew Goodell of Blacksburg VA (US)
LOCALIZATION ALGORITHM
This abstract first appeared for US patent application 18334092 titled 'LOCALIZATION ALGORITHM
Original Abstract Submitted
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.
