We present an extensive comparison between three topometric localization systems: radar-only, lidar-only, and a cross-modal radar-to-lidar system across varying seasonal and weather conditions using the Boreas dataset. Contrary to our expectations, our experiments showed that our lidar-only pipeline achieved the best localization accuracy even during a snowstorm. Our results seem to suggest that the sensitivity of lidar localization to moderate precipitation has been exaggerated in prior works. However, our radar-only pipeline was able to achieve competitive accuracy with a much smaller map. Furthermore, radar localization and radar sensors still have room to improve and may yet prove valuable in extreme weather or as a redundant backup system. Code for this project can be found at: https://github.com/utiasASRL/vtr3

翻译：我们基于Boreas数据集，对三种拓扑度量定位系统进行了全面比较：纯雷达系统、纯激光雷达系统以及跨模态雷达-激光雷达系统，涵盖不同的季节和天气条件。与预期相反，实验结果表明，即使在暴风雪中，纯激光雷达管线的定位精度仍是最优的。我们的结果似乎暗示，先前研究对激光雷达定位在中等降水条件下的敏感性可能被夸大了。然而，纯雷达管线能够以更小的地图实现具有竞争力的精度。此外，雷达定位与雷达传感器仍有改进空间，并可能在极端天气下或作为冗余备份系统展现价值。本项目代码请见：https://github.com/utiasASRL/vtr3