Ufil introduces a unified open-source framework with standardized interfaces for multi-object tracking that fuses V2X, lidar, and in-road sensor data to achieve lane-level accuracy below 0.3 m lateral RMSE and under 100 ms latency in both simulation and testbed.
Available: https://arxiv.org/abs/2509.20009
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Ufil: A Unified Framework for Infrastructure-based Localization
Ufil introduces a unified open-source framework with standardized interfaces for multi-object tracking that fuses V2X, lidar, and in-road sensor data to achieve lane-level accuracy below 0.3 m lateral RMSE and under 100 ms latency in both simulation and testbed.