Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D registration algorithms, LiDAR now facilitates vehicle localization with centimeter-level accuracy. However, these high-precision techniques often face reliability challenges in environments devoid of identifiable map features. To address this limitation, we propose a novel approach that utilizes road side units (RSU) with vehicle-to-infrastructure (V2I) communications to assist vehicle self-localization. By using RSUs as stationary reference points and processing real-time LiDAR data, our method enhances localization accuracy through a cooperative localization framework. By placing RSUs in critical areas, our proposed method can improve the reliability and precision of vehicle localization when the traditional vehicle self-localization technique falls short. Evaluation results in an end-to-end autonomous driving simulator AWSIM show that the proposed method can improve localization accuracy by up to 80% under vulnerable environments compared to traditional localization methods. Additionally, our method also demonstrates robust resistance to network delays and packet loss in heterogeneous network environments.


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    Titel :

    Accurate Cooperative Localization Utilizing LiDAR-Equipped Roadside Infrastructure for Autonomous Driving


    Beteiligte:
    Jiang, Yuze (Autor:in) / Javanmardi, Ehsan (Autor:in) / Tsukada, Manabu (Autor:in) / Esaki, Hiroshi (Autor:in)


    Erscheinungsdatum :

    24.09.2024


    Format / Umfang :

    4215152 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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