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A. Masiero, C. Toth, J. Gabela, G. Retscher:
"Assessment of Car Collaborative Positioning with UWB and Vision";
Talk: International Archives of Photogrammetry and Remote Sensing of the ISPRS, Working Group VI/3, Nice, France (invited); 2021-07-05 - 2021-07-09; in: "ISPRS Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences", XLIII-B1-2021 (2021), 7 pages.

During the last decades the role of positioning and navigation systems is drastically changed in the everyday life of common people,
influencing people behavior even multiple times each day. One of the most common applications of this kind of systems is that
of terrestrial vehicle navigation: the use of GPS in the automotive navigation sector started thirty years ago, and, nowadays, it
commonly assists drivers in reaching most of their non-standard destinations. Despite the popularity of global navigation satellite
systems (GNSS), their usability is quite limited in certain working conditions, such as in urban canyons, in tunnels and indoors.
While the latter case is typically not particularly interesting for the automotive sector, the first two scenarios represent important
cases of interest for automotive navigation. In addition to the market request for increasing the usability of navigation systems on
consumer devices, the recent increasing eagerness for autonomous driving is also attracting a lot of researchers´ attention on the development
of alternative positioning systems, able to compensate for the unavailability or unreliability of GNSS. In accordance with
the motivations mentioned above, this paper focuses on the development of a positioning system based on collaborative positioning
between vehicles with UltraWide-Band devices and vision. To be more specific, this work focuses on assessing the performance of
the developed system in successfully accomplishing three tasks, associated to different levels of gathered information: 1) assessing
distance between vehicles, 2) determining the vehicle relative positions, 3) estimating the absolute car positions. The obtained
results show that a) UWB can be reliably used (error of few decimeters error) to assess distances when vehicles are relatively close
to each other (e.g. less than 40 m), b) the combination of UWB and vision allows to obtain good results in the computation of
relative positions between vehicles, c) UWB-based collaborative positioning can be used for determining the absolute vehicle positions
if a sufficient number of UWB range measurements can be ensured (sub-meter error for vehicles connected with a static UWB
infrastructure, whereas error at meter level for those exploiting only vehicle-to-vehicle UWB communications).

Collaborative positioning, UWB, Vision, Extended Kalman filter, Deep Learning

http://dx.doi.org/10.5194/isprs-archives-XLIII-B1-2021-221-2021

https://publik.tuwien.ac.at/files/publik_296784.pdf