Accurate and Efficient Self-Localization on Roads using Basic Geometric Primitives

Highly accurate localization with very limited amount of memory and computational power is one of the big challenges for next generation series cars. We propose localization based on geometric primitives which are compact in representation and further valuable for other tasks like planning and behavior generation. The primitives lack distinctive signature which makes association between detections and map elements highly ambiguous. We resolve ambiguities early in the pipeline by online building up a local map which is key to runtime efficiency. Further, we introduce a new framework to fuse association and odometry measurements based on robust pose graph optimization.We evaluate our localization framework on over 30 min of data recorded in urban scenarios. Our map is memory efficient with less than 8 kB/km and we achieve high localization accuracy with a mean position error of less than 10 cm and a mean yaw angle error of less than 0. 25° at a localization update rate of 50Hz.