Lane marking localization

An apparatus, comprising:

• a processor configured to:
• approximate a vehicle's region;
• receive a region map from a database, wherein the region map corresponds to the vehicle's approximated region and comprises a plurality of region points indicating an expected roadway lane;
• receive a response image generated by an imaging device of one or more imaging devices of the vehicle, the response image comprising information relating to the vehicle's environment;
• generate a response map from the response image, the response map comprising a plurality of response points indicating the vehicle's location;
• compare the response map to the region map to determine (a) differences between the plurality of response points and the plurality of region points, and (b) a confidence score that comprises a variance that is computed using a logistic function;
• and
• predict the vehicle's roadway position based on the confidence score and the differences between the plurality of response points and the plurality of region points.

A non-transitory computer-readable storage medium having instructions stored thereupon, the storage medium comprising:

• instructions for approximating a vehicle's region;
• instructions for receiving a region map from a database, wherein the region map corresponds to the vehicle's approximated region and comprises a plurality of region points indicating an expected roadway lane;
• instructions for receiving a response image generated by an imaging device of one or more imaging devices of the vehicle, the response image comprising information relating to the vehicle's environment;
• instructions for generating a response map from the response image, the response map comprising a plurality of response points indicating the vehicle's location;
• instructions for comparing the response map to the region map to determine (a) differences between the plurality of response points and the plurality of region points, and (b) a confidence score that comprises a variance that is computed using a logistic function;
• and
• instructions for predicting the vehicle's roadway position based on the confidence score and the differences between the plurality of response points and the plurality of region points.