{
  "$type": "site.standard.document",
  "coverImage": {
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  "description": "Systems, methods, and devices for determining a location of a vehicle or other device are disclosed. A method includes receiving sensor data from a sensor and determining a prior map comprising LIDAR intensity values. The method includes extracting a sub-region of the prior map around a hypothesis…",
  "path": "/patents/1251074",
  "publishedAt": "2019-12-26T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01S17/89",
    "Ford Global Technologies, LLC"
  ],
  "textContent": "Systems, methods, and devices for determining a location of a vehicle or other device are disclosed. A method includes receiving sensor data from a sensor and determining a prior map comprising LIDAR intensity values. The method includes extracting a sub-region of the prior map around a hypothesis position of the sensor. The method includes extracting a Gaussian Mixture Model (GMM) distribution of intensity values for a region of the sensor data by expectation-maximization and calculating a log-likelihood for the sub-region of the prior map based on the GMM distribution of intensity values for the sensor data.",
  "title": "Localization For Autonomous Vehicles Using Gaussian Mixture Models"
}