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：来车状态估计：此前的研究主要集中于确定自车的位置、速度、朝向、角速度等状态。我们的方法聚焦于估计非自车车辆的状态，这对运动规划与决策至关重要。基于动态场景的定位：本项目将研究包含移动自车与非自车车辆的动态场景，而以往方法主要针对静态环境。