Radar and lidar, provided by two different range sensors, each has pros and cons of various perception tasks on mobile robots or autonomous driving. In this paper, a Monte Carlo system is used to localize the robot with a rotating radar sensor on 2D lidar maps. We first train a conditional generative adversarial network to transfer raw radar data to lidar data, and achieve reliable radar points from generator. Then an efficient radar odometry is included in the Monte Carlo system. Combining the initial guess from odometry, a measurement model is proposed to match the radar data and prior lidar maps for final 2D positioning. We demonstrate the effectiveness of the proposed localization framework on the public multi-session dataset. The experimental results show that our system can achieve high accuracy for long-term localization in outdoor scenes.
@article{arxiv.2005.04644,
title = {Radar-on-Lidar: metric radar localization on prior lidar maps},
author = {Huan Yin and Yue Wang and Li Tang and Rong Xiong},
journal= {arXiv preprint arXiv:2005.04644},
year = {2022}
}
Comments
7 pages, 4 figures. This paper has won the Best Conference Paper Award in 2020 IEEE International Conference on Real-time Computing and Robotics (RCAR). A supplementary video is available at https://youtu.be/wE-DbaCDbsU