Abstract: Disclosed herein are methods and systems for measuring and mapping traffic signals in global coordinates. A method includes obtaining an image of an environment for a vehicle location, detecting a traffic signal in the image, classifying the detected traffic signal, obtaining traffic signal specification information associated with the classified traffic signal, determining a control point associated with the classified traffic signal, determining a 3D position of the control point in camera space using the traffic signal specification information, camera calibration information, image pixel size, and focal length of camera used in capturing the image, transforming the 3D position of the control point in the camera space to a 3D position of the control point in global coordinates, saving the 3D position of the control point in global coordinates in a map, and controlling operation of a vehicle with 3D positions of control points in global coordinates saved in the map.

Abstract: A localization system uses an auction-based cooperative localization method to determine local pose estimations or local pose state corrections. The auction-based cooperative localization method is triggered by receipt of relative position measurements by a member of a cooperative and is cooperatively processed by a bid winning member of the cooperative, where the cooperative refers to a collection of autonomous vehicles and passengers with location/position determinable devices that are in communication with each other for the purposes of sharing localization data, position data and the like. The bid winning member determines local pose estimations or local pose state corrections for itself and provides local pose estimations or local pose state corrections to the other members of the cooperative.

Abstract: A localization system uses an auction-based cooperative localization method to determine local pose estimations or local pose state corrections. The auction-based cooperative localization method is triggered by receipt of relative position measurements by a member of a cooperative and is cooperatively processed by a bid winning member of the cooperative, where the cooperative refers to a collection of autonomous vehicles and passengers with location/position determinable devices that are in communication with each other for the purposes of sharing localization data, position data and the like. The bid winning member determines local pose estimations or local pose state corrections for itself and provides local pose estimations or local pose state corrections to the other members of the cooperative.

Abstract: A diver navigation, information and safety buoy system and method. The system and method incorporate a float device, and an ultra-short baseline acoustic array in communication with a diver transponder. The system and method also include a GPS system having a GPS antenna device mounted on the float device. The system also includes an AIS system having an AIS antenna mounted on the float. A diver processor permits a diver's location information to be calculated, and the diver can be navigated to a desired destination.

Abstract: A localization system uses an auction-based cooperative localization method to determine local pose estimations or local pose state corrections. The auction-based cooperative localization method is triggered by receipt of relative position measurements by a member of a cooperative and is cooperatively processed by a bid winning member of the cooperative, where the cooperative refers to a collection of autonomous vehicles and passengers with location/position determinable devices that are in communication with each other for the purposes of sharing localization data, position data and the like. The bid winning member determines local pose estimations or local pose state corrections for itself and provides local pose estimations or local pose state corrections to the other members of the cooperative.

Abstract: A diver navigation, information and safety buoy system and method. The system and method incorporate a float device, and an ultra-short baseline acoustic array in communication with a diver transponder. The system and method also include a GPS system having a GPS antenna device mounted on the float device. The system also includes an AIS system having an AIS antenna mounted on the float. A diver processor permits a diver's location information to be calculated, and the diver can be navigated to a desired destination.