A Method for Location Initialization of Handheld Devices using Autonomous Driving Vehicles for Interactive Systems Yoshio Ishiguro Nagoya University Nagoya, Aichi, Japan Tier IV, Inc. Nagoya, Aichi, Japan ishiy@acm.org Kazuya Takeda Nagoya University Nagoya, Aichi, Japan Tier IV, Inc. Nagoya, Aichi, Japan kazuya.takeda@nagoya-u.jp Figure 1: Usage scenarios for proposed system. 1) Navigation using high-precision positioning after passenger has left the vehicle. 2) Monitoring of blind spots using networked vehicles. 3) Drift error estimation for automatic reinitialization of robots. ABSTRACT One basic function performed by autonomous vehicles is estimation of their relative position within the environment, using LiDAR and high-precision 3D point-cloud maps. We propose a method for acquiring the relative position of smartphones by exploiting the localization information of mobility systems and their user interaction functionality. Generally, the technology required for estimating the position of a device is a trade-of between accuracy and the simplicity of the device. Our proposed method is a real- time, self-positioning approach, using a vehicle’s own position and mapping information as an initialization reference for estimating a smartphone’s relative position. The system continues to track the smartphone and to estimate its position after the initial linkup with the vehicle. The results of our experimental evaluation confrm that the phone can be accurately tracked and its position corrected, both indoors and outdoors, without any special equipment, and with a sufciently small processing load for the smartphone. Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for proft or commercial advantage and that copies bear this notice and the full citation on the frst page. Copyrights for third-party components of this work must be honored. For all other uses, contact the owner/author(s). AutomotiveUI ’21 Adjunct, September 9ś14, 2021, Leeds, United Kingdom © 2021 Copyright held by the owner/author(s). ACM ISBN 978-1-4503-8641-8/21/09. https://doi.org/10.1145/3473682.3480273 CCS CONCEPTS · Human-centered computing → Ubiquitous computing; Vi- sualization systems and tools. KEYWORDS Augmented reality; tracking method; autonomous driving ACM Reference Format: Yoshio Ishiguro and Kazuya Takeda. 2021. A Method for Location Initializa- tion of Handheld Devices using Autonomous Driving Vehicles for Interac- tive Systems. In 13th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (AutomotiveUI ’21 Adjunct), Septem- ber 9ś14, 2021, Leeds, United Kingdom. ACM, New York, NY, USA, 5 pages. https://doi.org/10.1145/3473682.3480273 1 INTRODUCTION Augmented Reality (AR) technology uses portable devices to aug- ment the real-world environment with computer-based information [1, 17].When presenting AR information, it is necessary to deter- mine the positioning of the user’s camera when capturing a scene (location and angle), so that CG images can be accurately superim- posed on the camera image. An AR and VR system that uses the position information of a vehicle has been previously proposed for use in in-vehicle entertainment systems [18]. Such systems realize AR and VR by linking the position of the vehicle to the estimated position of the user’s head using a Motion-Capture device, or other 102