Patent attributes
Aspects of the present disclosure relate to using an object detected at long range to increase the accuracy of a location and heading estimate based on near range information. For example, an autonomous vehicle may use data points collected from a sensor such as a laser to generate an environmental map of environmental features. The environmental map is then compared to pre-stored map data to determine the vehicle's geographic location and heading. A second sensor, such as a laser or camera, having a longer range than the first sensor may detect an object outside of the range and field of view of the first sensor. For example, the object may have retroreflective properties which make it identifiable in a camera image or from laser data points. The location of the object is then compared to the pre-stored map data and used to refine the vehicle's estimated location and heading.
