Abstract: Embodiments of the present invention provide systems and methods for use in a non-lead vehicle in a convoy, particularly an off-road convoy. The system comprises an image handling module adapted to obtain non-lead image data of the scene in the vicinity of the non-lead vehicle; a communications module adapted to receive data from a preceding vehicle in the convoy, the data comprising at least lead image data of the scene in the vicinity of the preceding vehicle; a processing module adapted to: obtain pose data of the preceding vehicle and a sparse map, both derived from the lead image data, wherein the sparse map comprises coordinates of a set of identifying features in the scene, and derive pose data of the non-lead vehicle relative to the preceding vehicle from the non-lead image data and the sparse map via visual odometry.

Abstract: Embodiments of the present invention provide systems and methods for use in a non-lead vehicle in a convoy, particularly an off-road convoy. The system comprises an image handling module adapted to obtain non-lead image data of the scene in the vicinity of the non-lead vehicle; a communications module adapted to receive data from a preceding vehicle in the convoy, the data comprising at least lead image data of the scene in the vicinity of the preceding vehicle; a processing module adapted to: obtain pose data of the preceding vehicle and a sparse map, both derived from the lead image data, wherein the sparse map comprises coordinates of a set of identifying features in the scene, and derive pose data of the non-lead vehicle relative to the preceding vehicle from the non-lead image data and the sparse map via visual odometry.