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Geolocation is integral to the seamless functioning of autonomous vehiclesand advanced traffic monitoring infrastructures. This paper introduces amethodology to geolocate road objects using a monocular camera, leveraging theNVIDIA DriveWorks platform. We use the Centimeter Positioning Service (CPOS)and the inverse Haversine formula to geo-locate road objects accurately. Thereal-time algorithm processing capability of the NVIDIA DriveWorks platformenables instantaneous object recognition and spatial localization for AdvancedDriver Assistance Systems (ADAS) and autonomous driving platforms. We present ameasurement pipeline suitable for autonomous driving (AD) platforms and providedetailed guidelines for calibrating cameras using NVIDIA DriveWorks.Experiments were carried out to validate the accuracy of the proposed methodfor geolocating targets in both controlled and dynamic settings. We show thatour approach can locate targets with less than 1m error when the AD platform isstationary and less than 4m error at higher speeds (i.e. up to 60km/h) within a15m radius.

Geo-locating Road Objects using Inverse Haversine Formula with NVIDIA Driveworks