Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?

Abstract

We present an extensive comparison between three topometric localization systems: radar-only, lidar-only, and a cross-modal radar-to-lidar system across varying seasonal and weather conditions using the Boreas dataset. Contrary to our expectations, our experiments showed that our lidar-only pipeline achieved the best localization accuracy even during a snowstorm. Our results seem to suggest that the sensitivity of lidar localization to moderate precipitation has been exaggerated in prior works. However, our radar-only pipeline was able to achieve competitive accuracy with a much smaller map. Furthermore, radar localization and radar sensors still have room to improve and may yet prove valuable in extreme weather or as a redundant backup system. Code for this project can be found at: https://github.com/utiasASRL/vtr3

Version 3: Accepted to RA-L, presented at IROS 2022. Localization results updated due to improved ground truth and calibration. Also switched Huber Loss for Cauchy Loss for the radar-based approaches