Precise object-relative positioning for car-like robots

In this paper, we present a method for increasing the object-relative positioning precision of a car-like robot. In an outdoor environment and on an electric vehicle retrofitted with commercially available actuators, we achieve sub-centimeter and sub-degree accuracy, longitudinally and in heading, respectively. Most noteworthy, this is higher precision than RTK-GPS - which is often assumed ground truth - can realistically measure.