Systems and methods for vehicle localization

A system for localizing a vehicle, the system comprising one or more processors and memory storing instructions that, when executed by the one or more processors, cause the system to:

• receive map data comprising a plurality of mapped roadway feature positions, wherein at least one of the plurality of positions is represented by a point in a global coordinate system and at least one of the plurality of positions is represented by a line segment comprising two points in the global coordinate system;
• receive detection data comprising a plurality of detected roadway feature positions, wherein at least one of the plurality of positions is represented by a point in a vehicle coordinate system and at least one of the plurality of positions is represented by a line segment comprising two points in the vehicle coordinate system;
• receive a pose of the vehicle at an earlier time;
• determine association data between one or more of the plurality of mapped roadway feature positions and one or more of the plurality of detected roadway feature positions based on the pose of the vehicle at the earlier time and at least one of:
• a distance between a point representing a detected roadway feature position and a line segment representing a mapped roadway feature position;
• or
• a distance between a point representing a mapped roadway feature position and a line segment representing a detected roadway feature position;
• determine an alignment transformation, based on the association data, that minimizes an alignment distance between the one or more of the plurality of mapped roadway feature positions and the one or more of the plurality of detected roadway feature positions;
• and
• compute an updated pose of the vehicle based on the map data and the alignment transformation.

A non-transitory computer readable storage medium storing instructions for localizing a vehicle, wherein the instructions, when executed by one or more processors of an electronic device, cause the device to:

• receive map data comprising a plurality of mapped roadway feature positions, wherein at least one of the plurality of positions is represented by a point in a global coordinate system and at least one of the plurality of positions is represented by a line segment comprising two points in the global coordinate system;
• receive detection data comprising a plurality of detected roadway feature positions, wherein at least one of the plurality of positions is represented by a point in a vehicle coordinate system and at least one of the plurality of positions is represented by a line segment comprising two points in the vehicle coordinate system;
• receive a pose of the vehicle at an earlier time;
• determine association data between one or more of the plurality of mapped roadway feature positions and one or more of the plurality of detected roadway feature positions based on the pose of the vehicle at the earlier time and at least one of:
• a distance between a point representing a detected roadway feature position and a line segment representing a mapped roadway feature position;
• or
• a distance between a point representing a mapped roadway feature position and a line segment representing a detected roadway feature position;
• determine an alignment transformation, based on the association data, that minimizes an alignment distance between the one or more of the plurality of mapped roadway feature positions and the one or more of the plurality of detected roadway feature positions;
• and
• compute an updated pose of the vehicle based on the map data and the alignment transformation.