REGISTER SETS OF LOW-LEVEL FEATURES WITHOUT DATA ASSOCIATION

Systems and methods for localization of a subject vehicle may include: a plurality of sensors to gather data regarding features in an environment of the subject vehicle; a feature map module to generate a feature map using data gathered from one or more of the plurality of sensors; a feature raster module to generate a feature raster image from the feature map; a score computation module to register a plurality of transformations of the feature raster image with a map feature raster image, to generate a cost function for the registrations of the plurality of transformations, and to determine the transformation with the lowest cost function; and the score computation module using the transformation with the lowest cost function to determine localization of the subject vehicle.