Large-Scale Topological Radar Localization Using Learned Descriptors

Jacek Komorowski; Monika Wysoczanska; Tomasz Trzcinski

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arXiv · 2110.03081

Large-Scale Topological Radar Localization Using Learned Descriptors

Jacek Komorowski·Monika Wysoczanska·Tomasz Trzcinski

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Abstract

In this work, we propose a method for large-scale topological localization based on radar scan images using learned descriptors. We present a simple yet efficient deep network architecture to compute a rotationally invariant discriminative global descriptor from a radar scan image. The performance and generalization ability of the proposed method is experimentally evaluated on two large scale driving datasets: MulRan and Oxford Radar RobotCar. Additionally, we present a comparative evaluation of radar-based and LiDAR-based localization using learned global descriptors. Our code and trained models are publicly available on the project website.

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Jacek Komorowski, Monika Wysoczanska, Tomasz Trzcinski. 2021-10-06. Large-Scale Topological Radar Localization Using Learned Descriptors. https://arxiv.org/abs/2110.03081

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