Preprint
Sep 2026
Dr-LiSA: Direct Radar-Lidar Scan Alignment for SE(3) Localization
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 combines the complementary strengths of the two sensing modalities: radar is robust to adverse weather and precipitation, while lidar provid...
Alex Zhang, Daniil Lisus, Cedric Le Gentil et al.
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