Sensor Fusion for Collaborative Mobile Agent Localization using Stationary Roadside Perception Sensors
Fleck, Tobias 1,2; Burger, Julian 1,2; Ochs, Sven 1,2; Heinrich, Marc 1; Schotschneider, Albert 1,2; Polley, Nikolai
2,3; Boualili, Yacin 2,3; Mütsch, Ferdinand 2; Schörner, Philip 1,2; Zofka, Marc René 1,2; Zöllner, J. Marius 1,2,3
1 FZI Forschungszentrum Informatik (FZI)
2 Institut für Angewandte Informatik und Formale Beschreibungsverfahren (AIFB), Karlsruher Institut für Technologie (KIT)
3 Kompetenzzentrum für angewandte Sicherheitstechnologie (KASTEL), Karlsruher Institut für Technologie (KIT)
2,3; Boualili, Yacin 2,3; Mütsch, Ferdinand 2; Schörner, Philip 1,2; Zofka, Marc René 1,2; Zöllner, J. Marius 1,2,31 FZI Forschungszentrum Informatik (FZI)
2 Institut für Angewandte Informatik und Formale Beschreibungsverfahren (AIFB), Karlsruher Institut für Technologie (KIT)
3 Kompetenzzentrum für angewandte Sicherheitstechnologie (KASTEL), Karlsruher Institut für Technologie (KIT)
Abstract:
Robust localization systems in automated vehicles are a major challenge for advanced autonomy. We propose a localization scheme that integrates perception data from roadside infrastructure with an inertial measurement unit (IMU) and Global Navigation Satellite System (GNSS) data inside the ego vehicle while handling transmission delays.
We conduct a case study in a field test with the autonomous driving research platform CoCar-NextGen with a Real-Time-Kinematics (RTK)-localization system as ground truth and compare our approach to a LiDAR-Localization system.
To demonstrate the potential, we conduct different scenarios, including: simulation of a GNSS-denied area and infrastructure measurement latency. We finish with conclusions and future work.
We conduct a case study in a field test with the autonomous driving research platform CoCar-NextGen with a Real-Time-Kinematics (RTK)-localization system as ground truth and compare our approach to a LiDAR-Localization system.
To demonstrate the potential, we conduct different scenarios, including: simulation of a GNSS-denied area and infrastructure measurement latency. We finish with conclusions and future work.
| Zugehörige Institution(en) am KIT | Institut für Angewandte Informatik und Formale Beschreibungsverfahren (AIFB) Kompetenzzentrum für angewandte Sicherheitstechnologie (KASTEL) |
| Publikationstyp | Proceedingsbeitrag |
| Publikationsdatum | 02.09.2025 |
| Sprache | Englisch |
| Identifikator | ISBN: 979-8-3315-8231-9 ISSN: 2835-947X KITopen-ID: 1000188267 |
| HGF-Programm | 46.23.03 (POF IV, LK 01) Engineering Security for Mobility Systems |
| Erschienen in | 2025 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), College Station, 2nd-4th September 2025 |
| Veranstaltung | IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2025), College Station, TX, USA, 02.09.2025 – 04.09.2025 |
| Verlag | Institute of Electrical and Electronics Engineers (IEEE) |
| Seiten | 1–8 |
| Serie | Conferences |
| Nachgewiesen in | OpenAlex Dimensions |