A General Framework for Multi-vehicle Cooperative Localization Using Pose Graph

Understand

When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision.

• To use spatial relative observations, we propose to add them into a pose graph for optimal pose estimation.
• Before adding them, we need to know the identities of the observed vehicles.
• The vehicle identification is formulated as a linear assignment problem, which can be solved efficiently.