GroundLoc: Efficient Large-Scale Outdoor LiDAR-Only Localization

Abstract

In this letter, we introduce GroundLoc, a LiDAR-only localization pipeline designed to localize a mobile robot in large-scale outdoor environments using prior maps. GroundLoc employs a Bird's-Eye View (BEV) image projection focusing on the perceived ground area and utilizes the place recognition network R2D2, or alternatively, the non-learning approach Scale-Invariant Feature Transform (SIFT), to identify and select keypoints for BEV image map registration. Our results demonstrate that GroundLoc outperforms state-of-the-art methods on the SemanticKITTI and HeLiPR datasets across various sensors. In the multi-session localization evaluation, GroundLoc reaches an Average Trajectory Error (ATE) well below 50 cm on all Ouster OS2 128 sequences while meeting online runtime requirements. The system supports various sensor models, as evidenced by evaluations conducted with Velodyne HDL-64E, Ouster OS2 128, Aeva Aeries II, and Livox Avia sensors. The prior maps are stored as 2D raster image maps, which can be created from a single drive and require only 4 MB of storage per square kilometer. The source code is available at https://github.com/dcmlr/groundloc.