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

• URL: http://arxiv.org/abs/2407.08384v1
• Date: Thu, 11 Jul 2024 10:44:42 GMT
• Title: Accurate Cooperative Localization Utilizing LiDAR-equipped Roadside Infrastructure for Autonomous Driving
• Authors: Yuze Jiang, Ehsan Javanmardi, Manabu Tsukada, Hiroshi Esaki,
• Abstract summary: LiDAR now facilitates vehicle localization with centimeter-level accuracy. These high-precision techniques often face reliability challenges in environments devoid of identifiable map features. We propose a novel approach that utilizes road side units (RSU) with vehicle-to-infrastructure (V2I) communications to assist vehicle self-localization.
• Score: 2.0499240875882
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: 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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