Adaptive Localization in Challenging Environments Using QR Codes and V2X Communication

This paper introduces a novel localization framework for GPS-denied environments, leveraging reflective QR codes, multi-sensor fusion, and V2X communication. The system integrates LiDAR-detectable QR codes encrypted with GPS coordinates, dead reckoning, and V2X data sharing to enhance localization accuracy in challenging conditions such as tunnels. A factor graph-based optimization fuses data from IMU, QR code detections, and V2X communication to ensure robustness. Experimental results demonstrate significant localization accuracy improvements over conventional methods, reducing position errors while maintaining reliable performance in lowlight conditions. The proposed approach offers a scalable and secure solution for autonomous vehicle localization, ensuring continuous operation and data integrity through end-to-end encryption.