Dr-LiSA: Direct Radar-Lidar Scan Alignment for SE(3) Localization

Alex Zhang, Daniil Lisus, Cedric Le Gentil +1

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…