{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1371849",
  "publishedAt": "2024-12-19T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/001",
    "TORC Robotics, Inc."
  ],
  "textContent": "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.",
  "title": "LOCALIZATION ALGORITHM"
}