Localization technique selection

1. A system, comprising a processor and a memory, the memory storing instructions executable by the processor to:

determine a selected technique, from a plurality of techniques, to identify a vehicle location by sensor and map data based on features detected in sensor data of an area in which the vehicle is located by:

determining a first ratio of a first number of available points in a first map based on a first technique from the plurality of techniques divided by a first minimum number of points for detecting the location based on the first map;

determining a second ratio of a second number of available points in a second map based on a second technique from the plurality of techniques divided by a second minimum number of points for detecting the location based on the second map;

selecting the first technique as the selected technique upon determining that the first ratio is greater than the second ratio; and

determining the location of the vehicle based on the first map and data received from a vehicle sensor;

determine a location of the vehicle based on the selected technique; and

navigate the vehicle based at least in part on the identified location.

2. The system of claim 1 , wherein the instructions include further instructions to determine, for each technique, a ratio of a number of detected features in the area for the respective technique to a number of available features in the map of the area for the respective techniques.

3. The system of claim 2 , wherein the instructions include further instructions to select the technique with a highest ratio.

4. The system of claim 2 , wherein the available features include detectable edges on a ground surface including a road boundary, a shape, a gradient, a pattern, a building, a bridge, a traffic light, a delineator, and a raised pavement marker.

5. The system of claim 2 , wherein the instructions include further instructions to detect the features based on received data from at least one of a vehicle LIDAR sensor and a vehicle camera sensor.

6. The system of claim 1 , wherein the plurality of techniques includes an intensity mapping and an occupancy grid mapping.

7. The system of claim 1 , wherein the instructions include further instructions to:

receive data from at least one of a vehicle LIDAR sensor and a vehicle camera sensor;

receive map data according to the selected technique; and

determine the location of the vehicle based on the received map and the received data.

8. The system of claim 1 , wherein each of the techniques includes determining the location of the vehicle based on data received from a vehicle sensor and a map of the area.

9. A method, comprising:

determining a selected technique, from a plurality of techniques, to identify a vehicle location by sensor and map data based on features detected in sensor data of an area in which the vehicle is located by:

determining a first ratio of a first number of available points in a first map based on a first technique from the plurality of techniques divided by a first minimum number of points for detecting the location based on the first map;

determining a second ratio of a second number of available points in a second map based on a second technique from the plurality of techniques divided by a second minimum number of points for detecting the location based on the second map;

selecting the first technique as the selected technique upon determining that the first ratio is greater than the second ratio; and

determining the location of the vehicle based on the first map and data received from a vehicle sensor;

determining a location of the vehicle based on the selected technique; and

navigating the vehicle based at least in part on the identified location.

10. The method of claim 9 , further comprising determining, for each technique, a ratio of a number of detected features in the area for the respective technique to a number of available features in the map of the area for the respective techniques.

11. The method of claim 10 , further comprising selecting the technique with a highest ratio.

12. The method of claim 10 , wherein the available features include detectable edges on a ground surface including a road boundary, a shape, a gradient, a pattern, a building, a bridge, a traffic light, a delineator, and a raised pavement marker.

13. The method of claim 10 , further comprising detecting the features based on received data from at least one of a vehicle LIDAR sensor and a vehicle camera sensor.

14. The method of claim 9 , wherein the plurality of techniques includes an intensity mapping and an occupancy grid mapping.

15. The method of claim 9 , further comprising:

receiving data from at least one of a vehicle LIDAR sensor and a vehicle camera sensor;

receiving map data according to the selected technique; and

determining the location of the vehicle based on the received map and the received data.

16. The method of claim 9 , wherein a technique includes determining the location of the vehicle based on data received from a vehicle sensor and a map of the area.

17. A system, comprising:

means for determining a selected technique, from a plurality of techniques, to identify a vehicle location by sensor and map data based on features detected in sensor data of an area in which the vehicle is located including:

means for determining a first ratio of a first number of available points in a first map based on a first technique from the plurality of techniques divided by a first minimum number of points for detecting the location based on the first map;

means for determining a second ratio of a second number of available points in a second map based on a second technique from the plurality of techniques divided by a second minimum number of points for detecting the location based on the second map;

means for selecting the first technique as the selected technique upon determining that the first ratio is greater than the second ratio; and

means for determining the location of the vehicle based on the first map and data received from a vehicle sensor;

means for determining a location of the vehicle based on the selected technique; and

means for navigating the vehicle based at least in part on the identified location.