Beyond the Vehicle: Cooperative Localization by Fusing Point Clouds for GPS-Challenged Urban Scenarios
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866912874673209344 |
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| author | Chao, Kuo-Yi Rasshofer, Ralph Knoll, Alois Christian |
| author_facet | Chao, Kuo-Yi Rasshofer, Ralph Knoll, Alois Christian |
| contents | Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data from vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) systems. Our approach integrates cooperative data with a point cloud registration-based simultaneous localization and mapping (SLAM) algorithm. The system processes point clouds generated from diverse sensor modalities, including vehicle-mounted LiDAR and stereo cameras, as well as sensors deployed at intersections. By leveraging shared data from infrastructure, our method significantly improves localization accuracy and robustness in complex, GPS-noisy urban scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_03908 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Beyond the Vehicle: Cooperative Localization by Fusing Point Clouds for GPS-Challenged Urban Scenarios Chao, Kuo-Yi Rasshofer, Ralph Knoll, Alois Christian Robotics Computer Vision and Pattern Recognition Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data from vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) systems. Our approach integrates cooperative data with a point cloud registration-based simultaneous localization and mapping (SLAM) algorithm. The system processes point clouds generated from diverse sensor modalities, including vehicle-mounted LiDAR and stereo cameras, as well as sensors deployed at intersections. By leveraging shared data from infrastructure, our method significantly improves localization accuracy and robustness in complex, GPS-noisy urban scenarios. |
| title | Beyond the Vehicle: Cooperative Localization by Fusing Point Clouds for GPS-Challenged Urban Scenarios |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2602.03908 |