OpenStreetMap-Based LiDAR Global Localization in Urban Environment Without a Prior LiDAR Map

@article{Cho2022OpenStreetMapBasedLG,
  title={OpenStreetMap-Based LiDAR Global Localization in Urban Environment Without a Prior LiDAR Map},
  author={Younghun Cho and Giseop Kim and Sang-Mook Lee and Jee-Hwan Ryu},
  journal={IEEE Robotics and Automation Letters},
  year={2022},
  volume={7},
  pages={4999-5006}
}
Using publicly accessible maps, we propose a novel vehicle localization method that can be applied without using prior light detection and ranging (LiDAR) maps. Our method generates OSM descriptors by calculating the distances to buildings from a location in OpenStreetMap at a regular angle, and LiDAR descriptors by calculating the shortest distances to building points from the current location at a regular angle. Comparing the OSM descriptors and LiDAR descriptors yields a highly accurate… 
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