Robust LiDAR Localization on an HD Vector Map without a Separate Localization Layer
Chi Zhang,Liwen Liu,Zhoupeng Xue,Kun Guo,Kuiyuan Yang,Rui Cai,Zhiwei Li,Chi Zhang,Liwen Liu,Zhoupeng Xue,Kun Guo,Kuiyuan Yang,Rui Cai,Zhiwei Li
Many autonomous driving applications nowadays come along with a prebuilt vector map for routing and planning purposes. In order to localize on this map, traditional LiDAR localization methods usually require a separate localization layer to function. On one hand, the separate layer occupies large storage and is not convenient to update. On the other hand, the potential of the vector map itself has...
