V2I Work Zone Geometry Reconstruction with Pose-Conditioned UWB Range Denoising
Reliable work zone mapping is important for connected and autonomous vehicles (CAVs) to navigate safely and smoothly through work zone areas. Cone-mounted ultra-wideband (UWB) roadside units (RSU) offer a cost-effective way for work zone layout inference, as roadside anchors and vehicle tags provide direct vehicle-to-infrastructure (V2I) range constraints for work zone geometry reconstruction. However, UWB range estimation is degraded by bursty outliers, non-line-of-sight (NLOS) errors, arbitrary anchor-ordering issues, and vehicle pose uncertainties in practical field deployments. To address these challenges, this study proposes a pose-conditioned, permutation-equivariant predictive deno...
| Authors | Jiaxi Liu, Hangyu Li, Yang Cheng et al. |
|---|---|
| Primary category | cs.RO |
| Published | 28 May 2026 |
| Last updated at source | 28 May 2026 |
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