Lyft, Inc.
FEATURE COVERAGE ANALYSIS

Abstract:

The present invention relates to a method for evaluating map quality in relation to the suitability of the map for visual localization. More particularly, the present invention relates to a method for providing feedback for identifying where maps need improvement and/or deciding when a map is of sufficient quality to perform localization. According to a first aspect, there is provided a method comprising one or more landmarks, the method comprising: determining and/or receiving a first area within the map which describes where one or more localization probabilities are to be estimated; determining one or more relevant landmarks at each of one or more positions, each of the one or more positions being within the first area; determining one or more matching probabilities for each of the one or more positions, wherein each of the matching probabilities comprises one or more estimates of a probability of successfully localising within the map using each relevant landmark; and combining the one or more matching probabilities per position into the localization probability per position.