VEHICLE LOCALISATION

The present disclosure relates to a method for determining a vehicle pose. The method comprises predicting a pose (xk, yk, θk) of the vehicle on a map based on sensor data acquired by a vehicle localization system. The method further comprises 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 the predicted pose of the vehicle. The transformed set of map road references form a set of polylines in the image-frame coordinate system. Moreover, the method comprises identifying a set of corresponding image road reference features in an image acquired by the vehicle mounted camera, where each identified road references feature defines a set of measurement coordinates (xi, yi) in the image-frame. The method further comprises projecting each of the identified set of image road reference features onto the formed set of polylines in order to obtain a set of projection points, wherein each projection point defines a set of projection coordinates (xpi, ypi). Further, the method comprises determining an error parameter based on a difference between the measurement coordinates and the corresponding projection coordinates, and updating the predicted pose based on the determined error parameter.