SYSTEMS AND METHODS FOR POSE DETERMINATION

The present disclosure relates to a method for determining a pose of a subject. The method may include identifying a plurality of sets of data points representing a plurality of cross sections of a path from point-cloud data representative of a surrounding environment, wherein the plurality of cross sections may be perpendicular to the ground surface and distributed along a first reference direction associated with the subject. The method may also include determining a feature vector of the at least one curb based on the plurality of sets of data points, determining at least one reference feature vector of the at least one curb based on an estimated pose of the subject and a location information database, and determining the pose of the subject by updating the estimated pose of the subject.