Abstract: The invention relates to a method for correcting a pose (20) of a motor vehicle (10) in the surroundings (18) of the motor vehicle (10) by an assistance system (12) of the motor vehicle (10), the method comprising the steps of receiving first data (22) of semantic contour image measurements by an electronic computing device (14) of the assistance system (12), receiving second data (24) of an initial pose estimate by the electronic computing device (14), receiving third data (26) of semantically labeled map elements by the electronic computing device (14), generating a score image (28) and/or an error image (30) and its image derivatives based on the first data (22) by the electronic computing device (14), generating expected three-dimensional points (32) of the map elements at the initial pose estimate based on the second data (24) and third data (26) by the electronic computing device (14), comparing the expected three-dimensional points (32) of the map elements with the score image (28) and/or the error ima

Abstract: A method of operating an autonomous vehicle on a roadway includes generating stereo vision data with a stereo vision camera of a vehicle guidance system of the autonomous vehicle, the stereo vision data representative of a traffic light on the roadway, generating disparity map data with a controller of the vehicle guidance system based on the stereo vision data, and generating odometry data of the vehicle at a first time and at a second time after the first time with an odometry system of the autonomous vehicle. The method further includes determining a position of the traffic light based on the disparity map data at the first time, determining a predicted position of the traffic light in the disparity map data at the second time based on the odometry data, and determining a state of the traffic light at the predicted position.