Method And System For Accurate Long Term Simultaneous Localization And Mapping With Absolute Orientation Sensing

Abstract

Described herein are embodiments of a method and system that uses a vertical or upward facing imaging sensor to compute vehicle attitude, orientation, or heading and combines the computed vehicle attitude, orientation, or heading with range bearing measurements from an imaging sensor, LiDAR, sonar, etc., to features in the vicinity of the vehicle to compute accurate position and map estimates.