Collaborative Positioning Using Landmark Maps.

In this paper we deal with a strategy for a collaborative positioning of vehicles to improve their ego positioning capabilities. One way to achieve this is the sharing of the vehicle's own position and additional measurements to vehicles with known position in their surrounding area. Under the assumption that a single vehicle is able to obtain its ego position by on-board sensors (like laser scanners and GNSS equipment) and in combination with available landmark maps, the consideration of additional measurements to other vehicles leads to a position improvement especially in case of sparse landmark maps. Based on an available landmark map covering built-up areas and highway-like roads, a set of simulations is carried out to evaluate the resulting improvement by using relative position data among nearby vehicles. Different kinds of collaborative positioning scenarios are investigated and contrasted with ego positioning using only the landmark map.