Pole-Curb Fusion Based Robust and Efficient Autonomous Vehicle Localization System With Branch-and-Bound Global Optimization and Local Grid Map Method

The localization system is one of the key components of autonomous vehicles. Widely-used GNSS (low-cost) alone can not meet the centimeter accuracy and is unstable in urban environment. Typically LiDAR-based localization system is very computationally demanding due to the usage of the dense point cloud map. In this paper, we propose a novel lightweight LiDAR-based localization system for autonomou...