论文标题
我们准备好让雷达在全天候映射和本地化中替换激光雷达吗？
Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
论文作者
论文摘要
我们在三个层压定位系统之间进行了广泛的比较：仅雷达，仅激光雷达，以及使用Boreas数据集的各种季节性和天气条件，一个跨模式雷达到巨人系统。与我们的期望相反，我们的实验表明，仅在暴风雪期间，我们的仅激光液管道也达到了最佳的本地化精度。我们的结果似乎表明，在先前的工作中夸大了激光雷达对中度降水的敏感性。但是，我们的仅雷达管道能够使用较小的地图实现竞争精度。此外，雷达定位和雷达传感器仍然有改进的空间，并且可能在极端天气或作为冗余备份系统中被证明是有价值的。可以在以下网址找到该项目的代码
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. Code for this project can be found at: https://github.com/utiasASRL/vtr3
