LOCALIZATION ALGORITHM

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.