公开(公告)号：US20240142237A1

公开(公告)日：2024-05-02

申请号：US18150198

申请日：2023-01-05

Applicant: Industrial Technology Research Institute

Inventor： Yu-Jhong Chen ,  Pei-Jung Liang ,  Ren-Yi Huang

IPC: G01C21/16

CPC classification number: G01C21/1656 ,  G06T2207/30

Abstract: A localization device and a localization method for a vehicle are provided. The localization device includes an inertia measurer, an encoder, an image capturing device, and a processor. The processor obtains an encoded data by the encoder to generate a first odometer data, obtains an inertial data by the inertia measurer to generate a heading angle estimation data, and obtains an environmental image data by the image capturing device to generate a second odometer data. In a first fusion stage, the processor fuses the heading angle estimation data and the first odometer data to generate first fusion data. In a second fusion stage, the processor fuses the first fusion data, the heading angle estimation data and the second odometer data to generate pose estimation data corresponding to the localization device.