{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T17:30:19Z","timestamp":1770917419978,"version":"3.50.1"},"reference-count":41,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2022,11,20]],"date-time":"2022-11-20T00:00:00Z","timestamp":1668902400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","award":["NRF-2020R1A2C2013091"],"award-info":[{"award-number":["NRF-2020R1A2C2013091"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]},{"name":"INHA UNIVERSITY","award":["NRF-2020R1A2C2013091"],"award-info":[{"award-number":["NRF-2020R1A2C2013091"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Autonomous vehicles are equipped with multiple heterogeneous sensors and drive while processing data from each sensor in real time. Among the sensors, the global navigation satellite system (GNSS) is essential to the localization of the vehicle itself. However, if a GNSS-denied situation occurs while driving, the accident risk may be high due to the degradation of the vehicle positioning performance. This paper presents a cooperative positioning technique based on the lidar sensor and vehicle-to-everything (V2X) communication. The ego-vehicle continuously tracks surrounding vehicles and objects, and localizes itself using tracking information from the surroundings, especially in GNSS-denied situations. We present the effectiveness of the cooperative positioning technique by constructing a GNSS-denied case during autonomous driving. A numerical simulation using a driving simulator is included in the paper to evaluate and verify the proposed method in various scenarios.<\/jats:p>","DOI":"10.3390\/rs14225881","type":"journal-article","created":{"date-parts":[[2022,11,21]],"date-time":"2022-11-21T04:33:32Z","timestamp":1669005212000},"page":"5881","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Lidar- and V2X-Based Cooperative Localization Technique for Autonomous Driving in a GNSS-Denied Environment"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5936-0674","authenticated-orcid":false,"given":"Min-Su","family":"Kang","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, Inha University, Incheon 22212, Republic of Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0647-2928","authenticated-orcid":false,"given":"Jae-Hoon","family":"Ahn","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Inha University, Incheon 22212, Republic of Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3084-6819","authenticated-orcid":false,"given":"Ji-Ung","family":"Im","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Inha University, Incheon 22212, Republic of Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5258-574X","authenticated-orcid":false,"given":"Jong-Hoon","family":"Won","sequence":"additional","affiliation":[{"name":"School of Electronics Engineering, Inha University, Incheon 22212, Republic of Korea"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1109\/MITS.2016.2583491","article-title":"Autonomous vehicle safety: An interdisciplinary challenge","volume":"9","author":"Koopman","year":"2017","journal-title":"IEEE Intell. 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