Vision based cooperative vehicle localization system and method for gps-denied environments

A vehicle localization program code product stored in non-transitory memory having instructions which, when executed by a controller having a processor, causes the controller to perform a method comprising:

• capturing image data from at least one camera disposed on a vehicle;
• identifying a representation of a second vehicle in the image data;
• receiving, from the second vehicle, location information corresponding to the second vehicle;
• and
• determining or updating location information of the vehicle based on the representation of the second vehicle in the image data and the location information for the second vehicle.

A vehicle localization method for a vehicle, the method comprising:

• capturing image data from at least one camera disposed on a vehicle;
• identifying a representation of a second vehicle in the image data;
• receiving, from the second vehicle, location information corresponding to the second vehicle;
• and
• determining or updating location information of the vehicle based on the representation of the second vehicle in the image data and the location information for the second vehicle.