This paper introduces Dr-LiSA, a first-of-its-kind direct method for localizing 2D spinning radar intensity measurements in $SE(3)$ against 3D lidar maps. Radar-lidar localization combines the complementary strengths of the two sensing modalities: radar is robust to adverse weather and precipitation, while lidar provid …
Spinning frequency-modulated continuous-wave (FMCW) radars have been gaining popularity in autonomous vehicle perception on account of their robustness to adverse weather conditions and 360° field of view. Recently, scanning radars have also been shown capable of generating per-azimuth Doppler velocity. In this paper, …
Radar-based navigation is appealing for its robustness to adverse conditions involving airborne particles, such as precipitation, dust, fog, and smoke, that can cause lidar-based systems to fail. Recently, direct methods that retain and use the entire radar scan rather than sparse points have improved on-road global lo …