Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
Keenan Burnett, Yuchen Wu, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
Abstract
We present an extensive comparison between three topometric localization systems: radar-only, lidar-only, and a cross-modal radar-to-lidar system across varying seasonal and weather conditions using the Boreas dataset. Contrary to our expectations, our experiments showed that our lidar-only pipeline achieved the best localization accuracy even during a snowstorm. Our results seem to suggest that the sensitivity of lidar localization to moderate precipitation has been exaggerated in prior works. However, our radar-only pipeline was able to achieve competitive accuracy with a much smaller map. Furthermore, radar localization and radar sensors still have room to improve and may yet prove valuable in extreme weather or as a redundant backup system.
BibTeX
@inproceedings{ral2022_arewereadyforrad,
title = {Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?},
author = {Keenan Burnett and Yuchen Wu and David J. Yoon and Angela P. Schoellig and Timothy D. Barfoot},
booktitle = {RA-L 2022},
year = {2022}
}