Rigid Body Localization and Tracking for 6G V2X: Algorithms, Applications, and Road to Adoption

Abstract: Vehicle-to-everything (V2X) perception refers to a suite of technologies that empower vehicles to sense their environment and communicate with other entities, including surrounding vehicles, infrastructure, and cloud/edge networks. With the growing demands of autonomous driving, V2X perception has gained significant attention, particularly through the emergence of integrated sensing and communication (ISAC) frameworks. Within this landscape, rigid body localization (RBL) has emerged as a promising paradigm, enabling the estimation of not only the position and velocity of the targets, but also its three-dimensional (3D) geometric structure and orientation. This article introduces the concept of RBL, highlights its unique advantages and applications, identifies key technical challenges, and finally outlines future research directions. In addition, the potential of RBL in next-generation - e.g. beyond fifth generation (B5G) and sixth-generation (6G) - wireless systems applied to V2X perception is also discussed, with a focus on its role in standardization efforts and its relevance across automotive and industrial domains.