A Survey of Localization Methods for Autonomous Vehicles in Highway Scenarios

Laconte, Johann; Kasmi, Abderrahim; Aufrère, Romuald; Vaidis, Maxime; Chapuis, Roland

doi:10.3390/s22010247

Cited by 30 publications

(20 citation statements)

References 112 publications

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“…In terms of localization, a number of surveys exist and share the localization basics and performance metrics in common. However, their goals are totally different and their main focuses can be categorized based on the environment (indoor [32], [35], [39], [41], outdoor [2], [33], [44] or both), techniques (SLAM [2], MDS [36], machine learning (ML) [38]- [40], etc. ), and signal types (radio signal [5], [6], visible light [9], RFID [41], etc.).…”

Section: Motivation and Structure Of This Workmentioning

confidence: 99%

“…The taxonomy of localization techniques will be detailed in Section II-A. From the application point of view, the localization systems for autonomous driving [2], [33], [44], emergency response [32], network tracking [5], device-free localization [34], and pedestrian localization [40] are surveyed. More recent works outlook the potential enablers in the B5G and 6G systems [42], show the localization potential with map-based techniques [43], describe basic localization algorithms for the 6G systems [8], and explore the fundamental limits of ISAC.…”

Section: Motivation and Structure Of This Workmentioning

confidence: 99%

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A Tutorial on Terahertz-Band Localization for 6G Communication Systems

Chen

Sarieddeen

Ballal

et al. 2022

IEEE Commun. Surv. Tutorials

127

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Terahertz (THz) communications are celebrated as key enablers for converged localization and sensing in future sixth-generation (6G) wireless communication systems and beyond. Instead of being a byproduct of the communication system, localization in 6G is indispensable for location-aware communications. Towards this end, we aim to identify the prospects, challenges, and requirements of THz localization techniques. We first review the history and trends of localization methods and discuss their objectives, constraints, and applications in contemporary communication systems. We then detail the latest advances in THz communications and introduce THzspecific channel and system models. Afterward, we formulate THz-band localization as a 3D position/orientation estimation problem, detailing geometry-based localization techniques and describing potential THz localization and sensing extensions. We further formulate the offline design and online optimization of THz localization systems, provide numerical simulation results, and conclude by providing lessons learned and future research directions. Preliminary results illustrate that under the same transmission power and array footprint, THz-based localization outperforms millimeter wave-based localization. In other words, the same level of localization performance can be achieved at THz-band with less transmission power or a smaller footprint.

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Section: Motivation and Structure Of This Workmentioning

confidence: 99%

Section: Motivation and Structure Of This Workmentioning

confidence: 99%

A Tutorial on Terahertz-Band Localization for 6G Communication Systems

Chen

Sarieddeen

Ballal

et al. 2022

IEEE Commun. Surv. Tutorials

127

View full text Add to dashboard Cite

show abstract

“…The authors of [57] focused on the recent developments and applications of simultaneous localization and mapping (SLAM) with emphasis in complex and unstructured agricultural environments. In [58], the authors overviewed a number of localization methods for autonomous vehicles. The authors of [59] conducted a survey on the fundamental limits of integrated communication and localization systems.…”

Section: Introductionmentioning

confidence: 99%

Localization as a key enabler of 6G wireless systems: A comprehensive survey and an outlook

Trevlakis¹,

Boulogeorgos²,

Pliatsios³

et al. 2023

Preprint

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<p>When fully implemented, sixth generation (6G) wireless systems will constitute intelligent wireless networks that enable not only ubiquitous communication but also high-accuracy localization services. They will be the driving force behind this transformation by introducing a new set of characteristics and service capabilities in which location will coexist with communication while sharing available resources. To that purpose, this survey investigates the envisioned applications and use cases of localization in future 6G wireless systems, while analyzing the impact of the major technology enablers. Afterwards, system models for millimeter wave, terahertz and visible light positioning that take into account both line-of-sight (LOS) and non-LOS channels are presented, while localization key performance indicators are revisited alongside mathematical definitions. Moreover, a detailed review of the state of the art conventional and learningbased localization techniques is conducted. Furthermore, the localization problem is formulated, the wireless system design is considered and the optimization of both is investigated. Finally, insights that arise from the presented analysis are summarized and used to highlight the most important future directions for localization in 6G wireless systems.</p>

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“…I N the last decades, the field of autonomous driving (AD) has received a massive amount of interest, both in academia [1]- [6] and in industry [7]- [10]. The principal factor that triggered this interest concerns safety issues [11].…”

Section: Introductionmentioning

confidence: 99%

A Review of End-to-End Autonomous Driving in Urban Environments

Coelho

Oliveira

2022

IEEE Access

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Autonomous driving in urban environments requires intelligent systems that are able to deal with complex and unpredictable scenarios. Traditional modular approaches focus on dividing the driving task into standard modules, and then use rule-based methods to connect those different modules. As such, these approaches require a significant effort to design architectures that combine all system components, and are often prone to error propagation throughout the pipeline. Recently, end-to-end autonomous driving systems have formulated the autonomous driving problem as an end-to-end learning process, with the goal of developing a policy that transforms sensory data into vehicle control commands. Despite promising results, the majority of end-to-end works in autonomous driving focus on simple driving tasks, such as lane-following, which do not fully capture the intricacies of driving in urban environments. The main contribution of this paper is to provide a detailed comparison between end-to-end autonomous driving systems that tackle urban environments. This analysis comprises two stages: a) a description of the main characteristics of the successful end-to-end approaches in urban environments; b) a quantitative comparison based on two CARLA simulator benchmarks (CoRL2017 and NoCrash). Beyond providing a detailed overview of the existent approaches, we conclude this work with the most promising aspects of end-to-end autonomous driving approaches suitable for urban environments.INDEX TERMS autonomous driving, end-to-end, imitation learning, reinforcement learning, urban environments.

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A Survey of Localization Methods for Autonomous Vehicles in Highway Scenarios

Cited by 30 publications

References 112 publications

A Tutorial on Terahertz-Band Localization for 6G Communication Systems

A Tutorial on Terahertz-Band Localization for 6G Communication Systems

Localization as a key enabler of 6G wireless systems: A comprehensive survey and an outlook

A Review of End-to-End Autonomous Driving in Urban Environments

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