Graph based Cooperative Localization for Connected and Semi-Autonomous Vehicles

Cooperative Real-time Localization is expected to play a crucial role in various applications in the field of Connected and Semi-Autonomous vehicles (CAVs), such as collision avoidance/warning, cooperative adaptive cruise control, etc. Future 5G wireless systems are expected to enable costeffective Vehicle-to-Everything (V2X) systems, allowing CAVs to share the measured data with other entities of the network. Typical measurement models usually deployed for this problem, are absolute position from Global Positioning System (GPS), relative distance to neighboring vehicles and relative angle or azimuth angle, extracted from Light Detection and Ranging (LIDAR) or Radio Detection and Ranging (RADAR) sensors. In this paper, we provide a cooperative localization approach that performs multi modal-fusion between the interconnected vehicles, by representing a fleet of connected cars as an undirected graph, encoding each vehicle position relative to its neighboring vehicles. This method is based on the so called Laplacian Processing, a Graph Signal Processing tool, that allows to capture intrinsic geometry of the undirected graph of vehicles rather than their absolute position on global coordinate system, significantly outperforming current state of the art approaches, in terms of localization mean square