Papers › Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
Keenan Burnett, Yuchen Wu, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
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
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections