Robust Point-shaped Landmark Detection Using Polarimetric Radar

This paper presents a robust detector of point-shaped landmarks by leveraging scattering information from polarimetric covariance radar gridmaps. Reliable landmarks are an essential part of any feature-based vehicle self-localization required for highly automated and autonomous driving. A polarimetric distance measure is used to extract cells with scattering behavior that is uniquely distinct from its neighborhood. Experiments on real-world data are evaluated and results from a single-, dual- and full-polarization utilization are compared. By association with a high definition map, a comparison of the suitability of different types of landmarks such as poles, guideposts and tree trunks for localization applications is made.