{
  "$type": "site.standard.document",
  "description": "The present disclosure relates to a method for determining a vehicle pose, predicting a pose (x, y, θ) of vehicle on a map based on sensor data acquired by a vehicle localization system, transforming a set of map road references of a segment of a digital map from a global coordinate system to an…",
  "path": "/patents/1321480",
  "publishedAt": "2022-06-30T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/3638",
    "ZENSEACT AB"
  ],
  "textContent": "The present disclosure relates to a method for determining a vehicle pose, predicting a pose (x, y, θ) of vehicle on a map based on sensor data acquired by a vehicle localization system, transforming a set of map road references of a segment of a digital map from a global coordinate system to an image-frame coordinate system of a vehicle-mounted camera based on map data and predicted pose of the vehicle. The transformed set of map road references form a set of polylines in image-frame coordinate system. Identifying a set of corresponding image road reference features in an image acquired by vehicle mounted camera, where each identified road references feature defines a set of measurement coordinates (x, y) in image-frame. Projecting each of identified set of image road reference features onto formed set of polylines in order to obtain a set of projection points.",
  "title": "VEHICLE LOCALISATION"
}