Autonomous Driving Vehicle Control Using YOLO11-Based Pose Estimation with Infrastructure Sensors

Yeong Gwang Choi, Eun Ho Kim, Young Hoon Suh, Jae Wook Jeon

Abstract: This work proposes a system that utilizes infrastructure-mounted cameras to estimate the position and orientation of vehicles, generating and controlling paths based on this data. The Hybrid A* algorithm is used to plan paths, the Pure Pursuit method is used to follow these paths, and the YOLO11m-pose model is used to estimate pose. The proposed approach addresses the limitations of restricted visibility and enables reliable navigation in complex environments.