Abstract: A method for position and/or deviation correction of a moving object in a simultaneous localization and mapping (SLAM) environment. The method comprises receiving at the moving object point cloud data for an area associated with the moving object from a sensor located at a fixed location. A processor of the moving object performs the steps of: transforming the received point cloud data to a coordinate system of the moving object; matching the transformed point cloud data with point cloud data generated by a sensor at the moving object for the area associated with the moving object; and using the matched point cloud data to determine a corrected position and/or deviation of the moving object within a selected coordinate system.

Abstract: A method and a system for road monitoring, comprises the steps of receiving, via a communication module, a first point cloud data from one or more designated road side units (RSUs) from one or more of a plurality of RSUs located in a defined geographical area; receiving, via the communication module, a second point cloud data from one or more designated vehicle on-board data processing units of vehicles located in the defined geographical area; processing, via a processing module, the first point cloud data and the second point cloud data to generate a processed point cloud data; and transmitting, via the communication module, information derived from the processed point cloud data to one or more of the RSUs and/or the vehicle on-board data processing units of vehicles located in the defined geographical area.