State estimation of oncoming vehicles: Earlier research has been based on determining states like position, velocity, orientation , angular velocity, etc of ego-vehicle. Our approach focuses on estimating the states of non-ego vehicles which is crucial for Motion planning and decision-making. Dynamic Scene Based Localization: Our project will work on dynamic scenes like moving ego (self) and non-ego vehicles. Previous methods were focused on static environments.

翻译：交通工具的状态估计：以往的研究主要集中在估计自车位置、速度、方向和角速度等状态。我们的方法着重于估计非自车交通工具的状态，这对于运动规划和决策至关重要。动态场景定位: 我们的项目将处理移动的自车和非自车交通工具等动态场景。以前的方法主要集中在静态环境下的定位。