Abstract
Localization is important to enable safe autonomous driving. In previous studies, localization based on infrared reflectance by LiDAR has been proposed and tested. However, when environmental changes occur, the reflectance from the road surface decreases due to rainy weather and blurring of white lines. Then, the localization accuracy is reduced. To solve this problem, previous methods use sensor fusion with LiDAR and a camera or Millimeter Wave Radar (MWR). However, they do not increase the robustness of map matching itself. Therefore, the objective of this research is to achieve robust matching against environmental changes by using Convolutional Neural Network (CNN).
