Accuracy Evaluation of Camera-based Vehicle Localization

Cooperative maneuvers are of high interest within many V2X applications. The implementation of cooperative maneuvers require the accurate localization of the vehicles. Accurate localizations of the ego-vehicle will be provided by the next generation of connected cars using 5G. Until all cars participate in the network, unconnected cars have to be considered as well. These cars are localized via static cameras positioned next to the road. The scope of this paper is the implementation and evaluation of a system which provides the detection, tracking, and localization of vehicles for a cooperative maneuvers scenario. The application is the lane merge of vehicles where the vehicle localizations are used for the planning of trajectories. The observed vehicles are equipped with GNSS RTK units for their self-localization which is the basis for the accuracy evaluation of the localization provided by the camera system.