Method and apparatus for iterative refinement of parameters of a localization framework

A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code instructions stored therein, the computer-executable program code instructions comprising program code instructions to:

• receive a map data set from a data source;
• apply an offset to the map data to generate an offset map data set;
• apply a localization framework between the map data set and the offset map data set to generate a localized data set;
• recover offset data from the localized data set;
• iteratively tune parameters of the localization framework in response to the offset data from the localized data set failing to correspond with the applied offset until offset data recovered from the localized data set corresponds to the applied offset;
• receive sensor data from at least one sensor of a vehicle;
• apply the localization framework with the iteratively tuned parameters of the localization framework to the sensor data to locate the vehicle within a mapped region;
• and
• provide for an update of a map database of the mapped region based on the sensor data and the location of the vehicle within the mapped region.

A method comprising:

• receiving a map data set from a data source;
• applying an offset to the map data to generate an offset map data set;
• applying a localization framework between the map data set and the offset map data set to generate a localized data set;
• recovering offset data from the localized data set;
• iteratively tuning parameters of the localization framework in response to the offset data from the localized data set failing to correspond with the applied offset until offset data recovered from the localized data set corresponds to the applied offset;
• receiving sensor data from at least one sensor of a vehicle;
• applying the localization framework with the iteratively tuned parameters of the localization framework to the sensor data to locate the vehicle within a mapped region;
• and
• providing for an update of a map database of the mapped region based on the sensor data and the location of the vehicle within the mapped region.