A FRAMEWORK FOR VEHICLE PLATOONING BASED ON MONOCULAR VISION

Abstract In this paper, we present a framework used to compute the relative pose of several vehicles in a platooning configuration. The localization of each vehicle is done separately with monocular vision. A wireless communication is used so that the vehicles can share their positions and compute the distance between them. This approach doesn't assume that the following vehicles can see the leader. The main difficulty is the synchronization of the localization information. A motion model of the vehicles is used to solve this problem. Experimental data show how vision can be used as a localization sensor for vehicle platooning.