标题： 视线之外：使用视觉和V2X通信的协作定位 显示英文标题

标题： Beyond Line-of-Sight: Cooperative Localization Using Vision and V2X Communication

摘要： 精确且鲁棒的定位对于联网和自动驾驶车辆（CAVs）的安全运行至关重要，特别是在全球导航卫星系统（GNSS）信号不可靠的复杂城市环境中。本文提出了一种新颖的基于视觉的协同定位算法，该算法利用车载摄像头和车对一切（V2X）通信，使CAVs即使在遮挡严重的场景（如繁忙的交叉路口）中也能估计其位姿。特别是，我们为一组联网代理提出了一个新颖的分布式观测器，该观测器包括环境中的地标代理（静态或移动）以及需要估计其位姿（位置和方向）的车辆代理。假设（i）环境中至少有三个地标代理，（ii）每个车辆代理可以测量自身的角速度和线速度以及相对于至少三个相邻地标或车辆的相对方位角，（iii）相邻车辆可以通信它们的位姿估计，则每个车辆可以使用所提出的分布式观测器估计自身的位姿。我们证明，在满足最小可观测性条件的情况下，所提出的观测器下估计误差的原点是局部指数稳定的。此外，我们通过真实1/10比例的联网车辆实验和大规模仿真评估了所提出的方法，展示了其可扩展性，并验证了理论保证在实际场景中的有效性。 显示英文摘要

摘要： Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper presents a novel vision-based cooperative localization algorithm that leverages onboard cameras and Vehicle-to-Everything (V2X) communication to enable CAVs to estimate their poses, even in occlusion-heavy scenarios such as busy intersections. In particular, we propose a novel decentralized observer for a group of connected agents that includes landmark agents (static or moving) in the environment with known positions and vehicle agents that need to estimate their poses (both positions and orientations). Assuming that (i) there are at least three landmark agents in the environment, (ii) each vehicle agent can measure its own angular and translational velocities as well as relative bearings to at least three neighboring landmarks or vehicles, and (iii) neighboring vehicles can communicate their pose estimates, each vehicle can estimate its own pose using the proposed decentralized observer. We prove that the origin of the estimation error is locally exponentially stable under the proposed observer, provided that the minimal observability conditions are satisfied. Moreover, we evaluate the proposed approach through experiments with real 1/10th-scale connected vehicles and large-scale simulations, demonstrating its scalability and validating the theoretical guarantees in practical scenarios.