# Radar-on-Lidar: metric radar localization on prior lidar maps

arXiv: https://arxiv.org/abs/2005.04644 · HTML: https://mlsanity.com/paper/2005.04644/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 May 2020.

## Built on by (most cited first, 4 of 4)

- [Radar-to-Lidar: Heterogeneous Place Recognition via Joint Learning](https://mlsanity.com/paper/2102.04960/) (2021)
- [Radar Occupancy Prediction with Lidar Supervision while Preserving Long-Range Sensing and Penetrating Capabilities](https://mlsanity.com/paper/2112.04282/) (2021)
- [Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights](https://mlsanity.com/paper/2309.08731/) (2023)
- [CoFi: Coarse-to-Fine ICP for LiDAR Localization in an Efficient Long-lasting Point Cloud Map](https://mlsanity.com/paper/2110.10194/) (2021)

## Abstract (arXiv)

Radar and lidar, provided by two different range sensors, each has pros and cons of various perception tasks on mobile robots or autonomous driving. In this paper, a Monte Carlo system is used to localize the robot with a rotating radar sensor on 2D lidar maps. We first train a conditional generative adversarial network to transfer raw radar data to lidar data, and achieve reliable radar points from generator. Then an efficient radar odometry is included in the Monte Carlo system. Combining the initial guess from odometry, a measurement model is proposed to match the radar data and prior lidar maps for final 2D positioning. We demonstrate the effectiveness of the proposed localization framework on the public multi-session dataset. The experimental results show that our system can achieve high accuracy for long-term localization in outdoor scenes.