A New Vehicle Localization Scheme Based on Combined Optical Camera Communication and Photogrammetry

Figure 10

A pair of FV’s taillight increases in size gradually from left, middle, and right on the image sensor; implying that the FV is moving closer to the HV. (a) FV keeps safe distance from HV. (b) FV stays min. distance from HV. (c) Critical distance between FV-HV.

(a)

(b)

(c)