Lyft, Inc.
DEEP DIRECT LOCALIZATION FROM GROUND IMAGERY AND LOCATION READINGS

Abstract:

In one embodiment, a method includes receiving an image associated with an object in an environment, the image being captured by sensors associated with a vehicle, generating a feature representation of the image, determining a potential ground control point associated with the object based on the feature representation of the image, determining a predetermined location reading based on the potential ground control point, calculating a differential relative to the predetermined location reading based on the potential ground control point, and determining a location of the vehicle based on the differential and the predetermined location reading based on the potential ground control point.