LOCALIZATION FROM SPECULAR CONSTELLATIONS

Localization of a vehicle based at least in part on a map of reflective objects having specular reflectivity. A specular constellation map generation system and method are used to create a mapping of location, orientation, and reflectivity values of reflective objects in a driving surface. A specular constellation localization system and method collect reflection data associated with a driving surface and generate a constellation of specular highlights associated with the reflection data. The constellation of specular highlights can be used in conjunction with a location of a light source and the mapping of reflective object values to determine a pose of the vehicle.