| CPC B60W 60/0025 (2020.02) [G01C 21/206 (2013.01); H04W 4/029 (2018.02); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] | 20 Claims |
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1. A self-driving vehicle, the self-driving vehicle comprising processing circuitry coupled to storage and a sensor system, the processing circuitry configured to:
detect, using a camera of the sensor system, a transitional fiducial marker located at a transition point corresponding to a building;
transition the processing circuitry from utilizing global positioning system (GPS) signals to utilizing one or more fiducial markers placed within the building for in-building navigation, using information retrieved from the transitional fiducial marker;
detect, using the camera of the sensor system, a first fiducial marker of the one more fiducial markers, wherein the first fiducial marker is located at a first location within the building;
retrieve, from the first fiducial marker, first fiducial marker information associated with the first location and transform information associated with a second location corresponding to a second fiducial marker of the one more fiducial markers, wherein the transform information is used by the self-driving vehicle to determine its pose relative to the second location;
generate localization information of the self-driving vehicle based on the first fiducial marker information; and
transition the self-driving vehicle to the second location within the building based on the localization information and the transform information.
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