CPC G01S 19/48 (2013.01) [B60W 40/10 (2013.01); B60W 60/001 (2020.02); B60W 2420/52 (2013.01); B60W 2552/53 (2020.02); B60W 2554/20 (2020.02)] | 18 Claims |
1. A system comprising:
one or more computer processors; and one or more non-transitory media storing instructions which, when executed by the one or more computer processors, cause performance of operations comprising:
receiving first localization data of a vehicle and second localization data of the vehicle at a first time, wherein the first localization data is from a first source and the second localization data is from a second source different from the first source;
determining a first difference between the first localization data and the second localization data received at the first time;
based on determining that the first difference between the first localization data and the second localization data satisfies an accuracy criterion, providing a first estimated location of the vehicle based on the first localization data and the second localization data;
receiving first localization data of the vehicle and second localization data of the vehicle at a second time;
determining a second difference between the first localization data and the second localization data received at the second time;
determining that the second difference between the first localization data and the second localization data at the second time does not satisfy the accuracy criterion; and
based on determining that the second difference between the first localization data and the second localization data at the second time does not satisfy the accuracy criterion:
detecting, using one or more images of an environment surrounding the vehicle, one or more predefined features of the environment;
providing a second estimated location of the vehicle based on the one or more predefined features of the environment; and
causing the vehicle to navigate based on the second estimated location of the vehicle.
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