{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
      "$link": "bafkreig6uawqrqzoxble33wtu5l5yjxzhq4x6blma6imxc2sqy5zx6vbtq"
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  "description": "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…",
  "path": "/patents/1423289",
  "publishedAt": "2026-06-18T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/165",
    "Stack AV Co."
  ],
  "textContent": "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.",
  "title": "SYSTEMS AND METHODS FOR VEHICLE LOCALIZATION"
}