Vehicle-infrastructure cooperation is an emerging technology towards fully autonomous driving. Onboard multi-sensors can provide precise state estimation and mapping but is subjected to degeneration over different urban scenarios. Limited by the level of intelligence from a single intelligent vehicle, the cellular vehicle-to-everything (C-V2X) opened a new window for the realization of fully autonomous driving. How can the roadside intelligent infrastructure assist intelligent vehicles in mapping and localization? 

In this project, we aim to investigate the potential of roadside infrastructure (RSI)  and multi-agent to improve navigation performance in urban areas.