US 11,948,330 B2
Systems and methods for localization using surface imaging
Matthew E. Last, San Jose, CA (US); Ricardo da Silveira Cabral, Zurich (CH); Daniel E. Potter, San Jose, CA (US); and Paul Furgale, Adliswil (CH)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Aug. 19, 2021, as Appl. No. 17/406,369.
Application 17/406,369 is a continuation of application No. 15/762,378, granted, now 11,100,673, previously published as PCT/US2016/052856, filed on Sep. 21, 2016.
Claims priority of provisional application 62/232,337, filed on Sep. 24, 2015.
Prior Publication US 2021/0383569 A1, Dec. 9, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/73 (2017.01); G06F 18/22 (2023.01); G06F 18/2413 (2023.01); G06V 10/52 (2022.01); G06V 10/54 (2022.01); G06V 10/764 (2022.01); G06V 20/54 (2022.01); G06V 20/56 (2022.01); H04N 19/60 (2014.01); H04N 23/56 (2023.01)
CPC G06T 7/74 (2017.01) [G06F 18/22 (2023.01); G06F 18/24133 (2023.01); G06V 10/52 (2022.01); G06V 10/54 (2022.01); G06V 10/764 (2022.01); G06V 20/54 (2022.01); G06V 20/588 (2022.01); G06T 2207/10004 (2013.01); G06T 2207/20048 (2013.01); G06T 2207/20212 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01); H04N 19/60 (2014.11); H04N 23/56 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
identifying reference information from a gallery corresponding to drivable regions within a geographic area defined based on a location of a charging station, the reference information identified based on location information for a vehicle in communication with the charging station;
obtaining the reference information from the charging station at the vehicle;
capturing an image of a target surface using at least one imager;
comparing the image to the reference information; and
identifying travel information corresponding to the target surface based on a match between the image and the reference information.