Accurate Cooperative Localization Utilizing LiDAR-equipped Roadside Infrastructure for Autonomous Driving
<|reference_start|>Accurate Cooperative Localization Utilizing LiDAR-equipped Roadside Infrastructure for Autonomous Driving: 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.<|reference_end|>
@article{jiang2024accurate,
    title={Accurate Cooperative Localization Utilizing LiDAR-equipped Roadside
  Infrastructure for Autonomous Driving},
    author={Yuze Jiang, Ehsan Javanmardi, Manabu Tsukada, Hiroshi Esaki},
    journal={arXiv preprint arXiv:2407.08384},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.08384},
    primaryClass={cs.RO cs.CV}
}