CPC G01S 13/867 (2013.01) [G01S 13/865 (2013.01); G01S 13/89 (2013.01); G01S 19/071 (2019.08); G01S 19/10 (2013.01)] | 46 Claims |
1. A method for determining a position estimate of a mobile device, comprising:
obtaining sensor information;
detecting one or more identifiable features in the sensor information;
determining a range to at least one of the one or more identifiable features;
obtaining coarse map information;
determining a location of the at least one of the one or more identifiable features based on the coarse map information; and
determining the position estimate for the mobile device based at least in part on the range to the at least one of the one or more identifiable features.
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