Systems, devices, and methods for autonomous vehicle localization

A vehicle, comprising:

• one or more light detection and ranging (LIDAR) sensors;
• one or more hardware processors;
• one or more tangible, non-transitory, computer readable media that collectively store instructions that when executed by the one or more hardware processors cause the one or more hardware processors to perform operations, the operations comprising:
• capturing point-cloud data representative of a surrounding of the vehicle;
• identifying a point in the point cloud data as a non-matching point in response to the point having no corresponding point in a map used to determine a position of the vehicle;
• determining that the non-matching point is to be used in a determination of an overlap score based on one or more comparisons of the point cloud data and the map;
• determining the overlap score in response to the determining that the non-matching point is to be used in the determination of the overlap score,
• determining a position of the vehicle based on the overlap score and the map;
• and
• controlling the vehicle based on the position.

A computing system for a vehicle, comprising:

• one or more hardware processors;
• one or more tangible, non-transitory computer readable media that collectively store instructions that when executed by the one or more hardware processors cause the one or more hardware processors to perform operations, the operations comprising:
• capturing point-cloud data representative of a surrounding of the vehicle with one or more LIDAR sensors;
• identifying a point in the point cloud data as a non-matching point in response to the point having no corresponding point in a map used to determine a position of the vehicle;
• determining that the non-matching point is to be used in a determination of an overlap score based on one or more comparisons of the point cloud data and the map;
• determining the overlap score in response to the determining that the non-matching point is to be used in the determination of the overlap score;
• determining a position of the vehicle based on the overlap score and the map;
• and
• controlling the vehicle based on the position.