Figure 18.

The pedestrian tracking in the CAV relying only on CPMs from the IRSU in the CARLA simulator. (a,b) show the two walking pedestrians and the planned path in the CAV at different time instances. In (c), the grid-based cost map maintained by the path planner in the CAV is presented with white as free space and black as occupied areas, the tracked pedestrians are visualised with 95% confidence ellipses and arrows indicating their moving direction, and the odometry trajectory is shown as a red line, and the planned path is presented as a dotted green line.