Peforming localization using camera-based maps augmented with sensor perception information for autonomous systems and applications

Abstract

In various examples, performing localization using camera-based maps augmented with sensor reflection information for autonomous and/or semi-autonomous systems and applications is described herein. For instance, and for a machine, an image-based map may be used to determine one or more locations associated with one or more landmarks located within the environment and also determine that the landmark(s) is associated with sensor reflections. Sensor data generated using the machine may then be analyzed with respect to the location(s) associated with the landmark(s) within the environment in order to determine a location of the machine within the environment. As described herein, various techniques may be used to localize the machine, such as using one or more distance transform areas around the landmark(s) and/or using costs determined based at least on analyzing the distance transform area(s) with respect to points represented by the secondary data.

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