Vehicle localization based on pose corrections from remote vehicles in parking garages

Abstract

This document describes techniques and systems for vehicle localization based on pose corrections from remote vehicles in parking garages and other GNSS denial environments. A system can include a processor and computer-readable storage media comprising instructions that, when executed by the processor, cause the system to autonomously operate a host vehicle and determine an estimated pose of the host vehicle within the GNSS denial environment. The instructions also cause the processor to transmit a pose request to a remote vehicle in the GNSS denial environment. In response to the pose request, the system can receive a corrected pose of the host vehicle from the remote vehicle. The instructions further cause the processor to use the corrected pose to determine an updated pose for the host vehicle. In this way, the system can provide highly accurate vehicle localization in GNSS denial environments in a cost-effective manner.