Investigating the Robustness of Localization to Environmental Changes

Evaluation of Localization Performance in Traffic Congestion Using a Simulator

Abstract

Many autonomous vehicles use 3D-LiDAR to perform localization. Localization accuracy of these autonomous vehicles is greatly affected by LiDAR performance, LiDAR mounting position, and surrounding environment. Because localization requires high reliability, we need to know the accuracy that autonomous vehicles can achieve in that location. Therefore, we must repeatedly perform driving tests and simulations using raw data in that environment. However, we need a lot of cost and effort to do these. So, we evaluate LiDAR performance using raw sensor data. In addition, we evaluate the sensor mounting position using sensor data generated in the virtual city area of the sensor simulator. Based on these evaluation results, we will verify the effect of LiDAR performance and LiDAR mounting position on Localization accuracy.