Figure 4.

Pedestrian tracking results for the IRSU. It can be seen in (a) that, when the target pedestrian was walking in a figure eight pattern in front of the IRSU, the tracked positions are found to be well aligned with the ground truth path obtained from an RTK receiver. The distance of the pedestrian relative to the IRSU changes between 5 and 22 m, as depicted in (b). In (c), the position RMSE is found to be lower than 0.3 m for the majority of the time in the test.