Marker aided autonomous vehicle localization

An autonomous vehicle comprising:

• a processor configured to execute instructions stored on a non-transitory computer readable medium to:
• identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a partially navigable portion, the partially navigable portion including a plurality of sparsely located uncoded localization markers, wherein each uncoded localization marker from the plurality of sparsely located uncoded localization markers is an instance of an invariant localization marker design, the transportation network information including localization marker information for each respective uncoded localization marker from the plurality of sparsely located uncoded localization markers, wherein the location information indicates a respective location of the respective uncoded localization marker in the vehicle transportation network,
• identify a route from an origin to a destination in the vehicle transportation network using the transportation network information, wherein the route includes at least a part of the partially navigable portion of the vehicle transportation network;
• and
• a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the destination using the route, wherein the processor is configured to:
• detect a first uncoded localization marker from the plurality of sparsely located uncoded localization markers in the vehicle transportation network,
• generate first localization information indicating an orientation and a position of the autonomous vehicle relative to the first uncoded localization marker in response to detecting the first uncoded localization marker, and
• generate second localization information indicating a current location of the autonomous vehicle in the vehicle transportation network based on the first localization information and localization marker information corresponding to the first uncoded localization marker, the localization marker information indicating a location of the uncoded localization marker in the vehicle transportation network, wherein the trajectory controller is configured to operate the autonomous vehicle to travel from the current location to the destination in response to generating the second localization information.

An autonomous vehicle comprising:

• a processor configured to execute instructions stored on a non-transitory computer readable medium to:
• identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a partially navigable portion, the partially navigable portion including a plurality of sparsely located uncoded localization markers, wherein each uncoded localization marker from the plurality of sparsely located uncoded localization markers is an instance of an invariant localization marker design, the transportation network information including localization marker information for each respective uncoded localization marker from the plurality of sparsely located uncoded localization markers, wherein the location information indicates a respective location of the respective uncoded localization marker in the vehicle transportation network,
• identify a route from an origin to a destination in the vehicle transportation network using the transportation network information, wherein the route includes at least a part of the partially navigable portion of the vehicle transportation network;
• and
• a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the destination using the route, wherein the processor is configured to:
• generate first localization information indicating an estimated location of the autonomous vehicle within the partially navigable portion of the vehicle transportation network using odometry,
• detect a first uncoded localization marker from the plurality of sparsely located uncoded localization markers,
• generate second localization information indicating an orientation and a position of the autonomous vehicle relative to the first uncoded localization marker in response to detecting the first uncoded localization marker,
• determine localization marker information corresponding to the first uncoded localization marker, wherein determining the localization marker information includes identifying the first uncoded localization marker from the plurality of sparsely located uncoded localization markers based on the first localization information, and
• generate third localization information identifying a current location of the autonomous vehicle in the vehicle transportation network based on the second localization information and the localization marker information, wherein the trajectory controller is configured to operate the autonomous vehicle to travel from the current location to the destination in response to generating the third localization information.