Large-Scale Topological Radar Localization Using Learned Descriptors

• URL: http://arxiv.org/abs/2110.03081v1
• Date: Wed, 6 Oct 2021 21:57:23 GMT
• Title: Large-Scale Topological Radar Localization Using Learned Descriptors
• Authors: Jacek Komorowski, Monika Wysoczanska, Tomasz Trzcinski
• Abstract summary: 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.
• Score: 15.662820454886202
• License: http://creativecommons.org/licenses/by/4.0/
• 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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