Systems and methods for odometry enhanced real-time cooperative relative pose estimation for cooperative LIDAR perception

A non-transitory computer-readable medium for cooperative perception between an ego vehicle and a remote vehicle and including instructions that, when executed by a processor, cause the processor to:

• compute, at a first timestep, a base relative pose between the ego vehicle and the remote vehicle based upon respective point clouds of the ego vehicle and the remote vehicle;
• compute, at a second timestep, a computed relative pose between the ego vehicle and the remote vehicle based upon the base relative pose, a first temporal relative pose of the ego vehicle, and a second temporal relative pose received from the remote vehicle, wherein the first temporal relative pose and the second temporal relative pose are respectively indicative of motion changes of the ego vehicle and the remote vehicle between the second timestep and the first timestep;
• generate a combined point cloud based upon a first point cloud of the ego vehicle, a second point cloud received from the remote vehicle, and the computed relative pose;
• and
• control the ego vehicle based upon the combined point cloud.

A method, comprising:

• computing, at a first timestep, a base relative pose between an ego vehicle and a remote vehicle based upon respective point clouds of the ego vehicle and the remote vehicle;
• computing, at a second timestep, a computed relative pose between the ego vehicle and the remote vehicle based upon the base relative pose, a first temporal relative pose of the ego vehicle, and a second temporal relative pose received from the remote vehicle, wherein the first temporal relative pose and the second temporal relative pose are respectively indicative of motion changes of the ego vehicle and the remote vehicle between the second timestep and the first timestep;
• generating a combined point cloud based upon a first point cloud of the ego vehicle, a second point cloud received from the remote vehicle, and the computed relative pose;
• and
• controlling the ego vehicle based upon the combined point cloud.