SYSTEMS AND METHODS FOR VEHICLE LOCALIZATION

A method for localizing a vehicle is provided. The method comprises receiving map data comprising mapped roadway feature positions, including a line segment, in a global coordinate system; receiving detection data comprising detected roadway feature positions, including a line segment, in a vehicle coordinate system; receiving a vehicle pose at an earlier time; determining association data between the mapped roadway features and the detected roadway features based on the pose and at least one of: a distance between a detected roadway feature point and a mapped roadway feature line segment or a distance between a mapped roadway feature point and a detected roadway feature line segment; determining an alignment transformation, based on the association data, that minimizes an alignment distance between a mapped roadway feature position and a detected roadway feature position; and computing an updated vehicle pose based on the map data and the alignment transformation.