A fundamental for an automated driving car is the awareness of its surrounding road participants. Current approach to gather this awareness is to sense the environment by on-board sensors. In the future, Vehicle-to-X (V2X) might be able to improve the awareness. We propose to create synthetic data for investigating cooperative perception by a simulation tool. Therefore, Artery and its counterpart SUMO is extended by modelling realistic vehicle dynamics and probabilistic sensor models.

In the future autonomous robots will share their environment information captured by range sensors like LiDAR or ToF cameras. In this paper it is shown that a two dimensional position and heading information, e.g. obtained by GPS tracking methods, is enough to initialize a 3D registration method using the range images from different perspectives of different platforms (e.g. car & infrastructure). Thus they will be able to explore their surrounding in a cooperative manner.