LoRaPCR: Long Range Point Cloud Registration through Multi-hop Relays in VANETs

Point cloud registration (PCR) can significantly extend the visual field and enhance the point density on distant objects, thereby improving driving safety. However, it is very challenging for vehicles to perform online registration between long-range point clouds. In this paper, we propose an online long-range PCR scheme in VANETs, called LoRaPCR, where vehicles achieve long-range registration through multi-hop short-range highly-accurate registrations. Given the NP-hardness of the problem, a heuristic algorithm is developed to determine best registration paths while leveraging the reuse of registration results to reduce computation costs. Moreover, we utilize an optimized dynamic programming algorithm to determine the transmission routes while minimizing the communication overhead. Results of extensive simulations demonstrate that LoRaPCR can achieve high PCR accuracy with low relative translation and rotation errors of 0.55 meters and 1.43°, respectively, at a distance of over 100 meters, and reduce the computation overhead by more than 50% compared to the state-of-the-art method.