OpenStreetMap-based LiDAR Global Localization in Urban Environment without a Prior LiDAR Map
Abstract
Using publicly accessible maps, we propose a novel vehicle localization method that can be applied without using prior light detection and ranging (LiDAR) maps. Our method generates OSM descriptors by calculating the distances to buildings from a location in OpenStreetMap at a regular angle, and LiDAR descriptors by calculating the shortest distances to building points from the current location at a regular angle. Comparing the OSM descriptors and LiDAR descriptors yields a highly accurate vehicle localization result. Compared to methods that use prior LiDAR maps, our method presents two main advantages: (1) vehicle localization is not limited to only places with previously acquired LiDAR maps, and (2) our method is comparable to LiDAR map-based methods, and especially outperforms the other methods with respect to the top one candidate at KITTI dataset sequence 00.
Cite
@article{arxiv.2202.07516,
title = {OpenStreetMap-based LiDAR Global Localization in Urban Environment without a Prior LiDAR Map},
author = {Younghun Cho and Giseop Kim and Sangmin Lee and Jee-Hwan Ryu},
journal= {arXiv preprint arXiv:2202.07516},
year = {2022}
}