Ground Edge based LIDAR Localization without a Reflectivity Calibration for Autonomous Driving

摘要

In this work we propose an alternative formulation to the problem of groundreflectivity grid based localization involving laser scanned data from multipleLIDARs mounted on autonomous vehicles. The driving idea of our localizationformulation is an alternative edge reflectivity grid representation which isinvariant to laser source, angle of incidence, range and robot surveyingmotion. Such property eliminates the need of the post-factory reflectivitycalibration whose time requirements are infeasible in mass producedrobots/vehicles. Our experiments demonstrate that we can achieve betterperformance than state of the art on ground reflectivity inference-map basedlocalization at no additional computational burden.